Go2 walking policy, live in the browser

A 192k-parameter network trained with PPO in MuJoCo MJX drives the Unitree Go2 at 50 Hz. The physics is MuJoCo compiled to WebAssembly, running here at 500 Hz.

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WASD move · QE turn · Shift sprint · Space push

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Trained on flat ground with random pushes, motor latency and friction changes; the same policy file runs on the robot.