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1. Commits on Jun 2, 2026

   • Revert delay to measured 3-step lag (chirp ID)

     KaydenKnapik

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   • Improve standing-to-walking sim2real: phase freeze + wider DR

     KaydenKnapik

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   • Walking with imitation learning

     KaydenKnapik

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2. Commits on Jun 1, 2026

   • Fix data/ path: parents[4] is repo root, not parents[5]

     KaydenKnapik

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   • Move reference motion pkl into repo data/ folder

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     KaydenKnapik

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   • Migrate to mjlab v1.4.0

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     KaydenKnapik

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3. Commits on May 30, 2026

   • Add meshes folder

     KaydenKnapik

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   • Add new xml with correct inertias

     KaydenKnapik

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4. Commits on May 18, 2026

   • Update README: remove asset download step, fix task IDs

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     KaydenKnapik

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     claude

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5. Commits on May 2, 2026

   • Add BeyondMimic tracking env for head and headless BDX-R

     KaydenKnapik

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6. Commits on Apr 7, 2026

   • sim2real walking on real robot

     KaydenKnapik

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7. Commits on Apr 3, 2026

   • More randomization for walk

     KaydenKnapik

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8. Commits on Apr 1, 2026

   • wider stance, better sim2real

     KaydenKnapik

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   • test auth

     KaydenKnapik

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   • Best walking so far

     KaydenKnapik

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9. Commits on Mar 31, 2026

   • Update feet contacts xml

     KaydenKnapik

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10. Commits on Mar 18, 2026

    • Allows for training with legs only, increased randomization parameters

      KaydenKnapik

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11. Commits on Mar 10, 2026

    • Allows for training policy that excludes head

      KaydenKnapik

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12. Commits on Mar 4, 2026

    • Merge branch 'main' of github.com:BDX-R/BDX-R-MjLab

      KaydenKnapik

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    • Corrects joint angle mismatch from sim and real

      KaydenKnapik

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13. Commits on Feb 27, 2026

    • More rom allowed in ankles

      KaydenKnapik

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    • Update README.md by removing old links

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      KaydenKnapik

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    • Update README with additional GitHub links

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      KaydenKnapik

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    • Update dependencies

      KaydenKnapik

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    • Updated walk tuning

      KaydenKnapik

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    • best walk yet, fixed feet contacts and feet penalties work correctly now

      KaydenKnapik

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    • fixed contactb ug in feet

      KaydenKnapik

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14. Commits on Feb 19, 2026

    • Update asset link in README.md

      KaydenKnapik

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15. Commits on Feb 13, 2026

    • Correct acknowledgements in README

      louislelay

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    • Update README.md for consistency and command syntax

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      louislelay

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16. Commits on Feb 11, 2026

    • Good walking BDX-R

      KaydenKnapik

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    • Updates bdx xml and training

      KaydenKnapik

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17. Commits on Feb 9, 2026

    • Working BDX-R training with mjlab current release

      KaydenKnapik

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18. Commits on Oct 24, 2025

    • Update README with project roadmap link

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      louislelay

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19. Commits on Oct 23, 2025

    • Add roadmap section to README

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      louislelay

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