Sim2realed nicely

Nice! Did you add any regularization term (e.g. action rate)?

Yes, only action smoothness and soft landing, everything works out of box

amazingggg. i am currently working on SMP with my custom humanoid robots. Diffusion net works fine, but when training, the robot dont want to swing the foots, just stands there.

How are feet modeled? are you using the "default" unitree urdf/xml? This heel toe is really hard to get. Impressive!

G1 xml shipped with mjlab, they have nice contact gemo