Trajectory-optimisation solutions over commanded speed, gait period, duty factor and body height, for two gaits. This is the corpus the Transformer VAE is fitted to before its decoder is frozen into the RL action space — so the coverage below, and its holes, is the action space.
Larger opaque marks are the — entries carrying full time series; faint marks are parameter-only. Click either plot to select the nearest visible entry.
Trot per-leg duty is capped at 0.49: above it both front legs are down at once, which a two-contact sagittal projection cannot express. Draws above the cap are redrawn, not clipped onto it — an earlier build of this library clipped them, which parked 34% of the trot entries on exactly 0.49 and fed that point mass to the VAE. The edge at 0.49 is real; the pile that used to sit on it was an artifact. Trot's lower bound is real too: below about 0.28 the flight phase is long enough that the stance torque exceeds what an A1 can produce with a quarter of its budget reserved for feedback. Bound has no cap and runs to 0.71.
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