Simulation & Evaluation

The simulation pipeline allows you to visualize trained models and evaluate their performance under various conditions.

Overview

The simulation pipeline is metadata-driven. Training-specific configurations (morphology, arena, environment, etc.) are automatically loaded from the _metadata.yaml file associated with the model checkpoint.

Basic Simulation

To simulate a model in the MuJoCo viewer:

uv run scripts/simulate.py simulation.model_path=runs/your_run/final_model.flax

Amputation & Morphology Overrides

You can test trained models on different morphologies (e.g., amputating legs) by providing a morphology override. The observations will be automatically padded up to the training morphology's dimensions:

uv run scripts/simulate.py \
    simulation.model_path=runs/your_run/final_model.flax \
    simulation.morphology_override=configs/morphology/3_arms.yaml

Video Recording

Recording videos requires the [evaluation] extra:

uv run scripts/simulate.py \
    simulation.model_path=runs/your_run/final_model.flax \
    simulation.record_video=true \
    simulation.max_steps=1000

Videos and evaluation metadata are stored in timestamped folders alongside the model: runs/your_run/final_model_evaluations/eval_<timestamp>/simulation.mp4

For batch evaluation and cross-model comparison, see the Evaluation Guide.