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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.