feat: G1 backflip whole-body tracking task under FastSAC - #77

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feat/g1-wbt-backflip

Commits on Sep 25, 2026

feat: G1 backflip whole-body tracking task under FastSAC
wlgys8
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f147bc2
docs: add G1 backflip play recording and reward curve assets
wlgys8
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ae9684a
feat(backflip): fix bad_ref_z to plain 0.5, drop phased window; add ablation plan
wlgys8
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a0203f3
refactor(backflip): drop flight_tuck reward and landed_upright metric
wlgys8
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39780a4
refactor(backflip): drop root velocity reset noise zeroing (A5)
wlgys8
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8c83c01
refactor(backflip): remove dead motion_ee_body_pos_z reward config
wlgys8
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6310de3
docs(ablation): record A4c result — adaptive sampling not adopted (40k, no play-level gain)
wlgys8
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76a5209
refactor(backflip): remove flight_pitch_rotation mean metric
wlgys8
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1d54185
refactor(backflip): remove flight_rotation_progress reward (A2 re-ablation)
wlgys8
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29c1bd0