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walker2d-calibrated-v2 – AI Model by rijal028 | AlphaNeural AI
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reinforcement-learning
mujoco
walker2d
fault-tolerance
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Walker2d Calibrated Autonomous Reflective Agent (v2.1)
Model policy adaptif bipedal locomotion terkalibrasi yang menggabungkan:
Intrinsically Robust Feedforward Actor
(hasil konsolidasi LR $3.0\times 10^{-5}$).
Filtered World Dynamics Anomaly Detector
(Threshold: 8.0, Persistence: 3 frames).
Online Critic-Guided Action Reflection Engine
($lpha = 2.0\times 10^{-3}$, 8 iterations).
Benchmark Highlights (1.000 Steps Suite)
External Wind Gust (+140N Push):
1.000 steps penuh
(+26.14 m) dengan hanya 5 trigger presisi (vs Baseline jatuh di step 367).
Right Knee Jammed (0 Nm):
Tembus 515 steps murni feedforward tanpa false alarm saat fase lari normal.
