ThomasTheMaker/BeeWalker-v6

🐝 BeeWalker v6 — Training Results

Training results for the BeeWalker bipedal robot, using PPO and LSTM-based reinforcement learning in MuJoCo.

GitHub: ThomasVuNguyen/makeshit

Training Runs

Run	Type	Steps	Videos	Checkpoints
lstm_20260209_154855	LSTM	17.9M	4	0
lstm_20260209_004543	LSTM	29.6M	296	59
lstm_20260208_191752	LSTM	9.9M	99	19
lstm_20260208_190415	LSTM	200K	2	0
lstm_20260208_171335	LSTM	1.2M	12	2
lstm_20260207_013141	LSTM	24.9M	2489	49

Robot

• Simulation: MuJoCo (BipedWalker custom env)
• Servos: 6× MG996R (hip, knee, ankle × 2)
• Controller: RP2040 (target deployment)
• Algorithm: RecurrentPPO (LSTM hidden_size=32)

How to Use

# Upload results to HuggingFace
python tools/upload_hf.py --latest

# Upload all runs
python tools/upload_hf.py

# Upload specific run
python tools/upload_hf.py --run lstm_20260207_013141