RL runs

Create Run

Train a policy. Only robot and task.objective are required; everything else has a verified default.

Returns 202 with one run per seed (sharing a group_id). A run trains, then packages its outputs: the policy as ONNX and a checkpoint, the MuJoCo scene with a script that runs the policy in it, clips, and a report with a verdict. Poll GET /v1/rl_runs/ or subscribe to rl_run.completed / rl_run.failed / rl_run.canceled. Tokens are reserved now and settled by the minute when the run ends. Send an Idempotency-Key to make retries safe.

POST

rl_runs

Create Run

curl --request POST \
  --url https://api.kiteml.com/v1/rl_runs \
  --header 'Authorization: Bearer <token>' \
  --header 'Content-Type: application/json' \
  --data '
{
  "budget": {
    "iterations": 500,
    "max_tokens": 400
  },
  "description": "Walk forward at a steady pace with a level body and alternating feet.",
  "from": {
    "policy": "4d574ce4c547"
  },
  "hardware_tier": "gcp_gpu_l4",
  "metadata": {
    "example": "rl_runs/walk.json"
  },
  "outputs": {
    "formats": [
      "onnx",
      "pt",
      "torchscript"
    ],
    "videos": [
      {
        "command": {
          "vx": 0.3
        },
        "seconds": 8
      }
    ]
  },
  "robot": "open_duck_mini_v2",
  "seeds": 1,
  "task": {
    "commands": {
      "vx": [
        0.2,
        0.4
      ],
      "vy": [
        -0.05,
        0.05
      ],
      "yaw": [
        -0.2,
        0.2
      ]
    },
    "objective": "velocity"
  },
  "title": "Open Duck: steady walk (fine-tuned)"
}
'

import requests

url = "https://api.kiteml.com/v1/rl_runs"

payload = {
    "budget": {
        "iterations": 500,
        "max_tokens": 400
    },
    "description": "Walk forward at a steady pace with a level body and alternating feet.",
    "from": { "policy": "4d574ce4c547" },
    "hardware_tier": "gcp_gpu_l4",
    "metadata": { "example": "rl_runs/walk.json" },
    "outputs": {
        "formats": ["onnx", "pt", "torchscript"],
        "videos": [
            {
                "command": { "vx": 0.3 },
                "seconds": 8
            }
        ]
    },
    "robot": "open_duck_mini_v2",
    "seeds": 1,
    "task": {
        "commands": {
            "vx": [0.2, 0.4],
            "vy": [-0.05, 0.05],
            "yaw": [-0.2, 0.2]
        },
        "objective": "velocity"
    },
    "title": "Open Duck: steady walk (fine-tuned)"
}
headers = {
    "Authorization": "Bearer <token>",
    "Content-Type": "application/json"
}

response = requests.post(url, json=payload, headers=headers)

print(response.text)

const options = {
  method: 'POST',
  headers: {Authorization: 'Bearer <token>', 'Content-Type': 'application/json'},
  body: JSON.stringify({
    budget: {iterations: 500, max_tokens: 400},
    description: 'Walk forward at a steady pace with a level body and alternating feet.',
    from: {policy: '4d574ce4c547'},
    hardware_tier: 'gcp_gpu_l4',
    metadata: {example: 'rl_runs/walk.json'},
    outputs: {
      formats: ['onnx', 'pt', 'torchscript'],
      videos: [{command: {vx: 0.3}, seconds: 8}]
    },
    robot: 'open_duck_mini_v2',
    seeds: 1,
    task: {
      commands: {vx: [0.2, 0.4], vy: [-0.05, 0.05], yaw: [-0.2, 0.2]},
      objective: 'velocity'
    },
    title: 'Open Duck: steady walk (fine-tuned)'
  })
};

fetch('https://api.kiteml.com/v1/rl_runs', options)
  .then(res => res.json())
  .then(res => console.log(res))
  .catch(err => console.error(err));

<?php

$curl = curl_init();

curl_setopt_array($curl, [
  CURLOPT_URL => "https://api.kiteml.com/v1/rl_runs",
  CURLOPT_RETURNTRANSFER => true,
  CURLOPT_ENCODING => "",
  CURLOPT_MAXREDIRS => 10,
  CURLOPT_TIMEOUT => 30,
  CURLOPT_HTTP_VERSION => CURL_HTTP_VERSION_1_1,
  CURLOPT_CUSTOMREQUEST => "POST",
  CURLOPT_POSTFIELDS => json_encode([
    'budget' => [
        'iterations' => 500,
        'max_tokens' => 400
    ],
    'description' => 'Walk forward at a steady pace with a level body and alternating feet.',
    'from' => [
        'policy' => '4d574ce4c547'
    ],
    'hardware_tier' => 'gcp_gpu_l4',
    'metadata' => [
        'example' => 'rl_runs/walk.json'
    ],
    'outputs' => [
        'formats' => [
                'onnx',
                'pt',
                'torchscript'
        ],
        'videos' => [
                [
                                'command' => [
                                                                'vx' => 0.3
                                ],
                                'seconds' => 8
                ]
        ]
    ],
    'robot' => 'open_duck_mini_v2',
    'seeds' => 1,
    'task' => [
        'commands' => [
                'vx' => [
                                0.2,
                                0.4
                ],
                'vy' => [
                                -0.05,
                                0.05
                ],
                'yaw' => [
                                -0.2,
                                0.2
                ]
        ],
        'objective' => 'velocity'
    ],
    'title' => 'Open Duck: steady walk (fine-tuned)'
  ]),
  CURLOPT_HTTPHEADER => [
    "Authorization: Bearer <token>",
    "Content-Type: application/json"
  ],
]);

$response = curl_exec($curl);
$err = curl_error($curl);

curl_close($curl);

if ($err) {
  echo "cURL Error #:" . $err;
} else {
  echo $response;
}

package main

import (
	"fmt"
	"strings"
	"net/http"
	"io"
)

func main() {

	url := "https://api.kiteml.com/v1/rl_runs"

	payload := strings.NewReader("{\n  \"budget\": {\n    \"iterations\": 500,\n    \"max_tokens\": 400\n  },\n  \"description\": \"Walk forward at a steady pace with a level body and alternating feet.\",\n  \"from\": {\n    \"policy\": \"4d574ce4c547\"\n  },\n  \"hardware_tier\": \"gcp_gpu_l4\",\n  \"metadata\": {\n    \"example\": \"rl_runs/walk.json\"\n  },\n  \"outputs\": {\n    \"formats\": [\n      \"onnx\",\n      \"pt\",\n      \"torchscript\"\n    ],\n    \"videos\": [\n      {\n        \"command\": {\n          \"vx\": 0.3\n        },\n        \"seconds\": 8\n      }\n    ]\n  },\n  \"robot\": \"open_duck_mini_v2\",\n  \"seeds\": 1,\n  \"task\": {\n    \"commands\": {\n      \"vx\": [\n        0.2,\n        0.4\n      ],\n      \"vy\": [\n        -0.05,\n        0.05\n      ],\n      \"yaw\": [\n        -0.2,\n        0.2\n      ]\n    },\n    \"objective\": \"velocity\"\n  },\n  \"title\": \"Open Duck: steady walk (fine-tuned)\"\n}")

	req, _ := http.NewRequest("POST", url, payload)

	req.Header.Add("Authorization", "Bearer <token>")
	req.Header.Add("Content-Type", "application/json")

	res, _ := http.DefaultClient.Do(req)

	defer res.Body.Close()
	body, _ := io.ReadAll(res.Body)

	fmt.Println(string(body))

}

HttpResponse<String> response = Unirest.post("https://api.kiteml.com/v1/rl_runs")
  .header("Authorization", "Bearer <token>")
  .header("Content-Type", "application/json")
  .body("{\n  \"budget\": {\n    \"iterations\": 500,\n    \"max_tokens\": 400\n  },\n  \"description\": \"Walk forward at a steady pace with a level body and alternating feet.\",\n  \"from\": {\n    \"policy\": \"4d574ce4c547\"\n  },\n  \"hardware_tier\": \"gcp_gpu_l4\",\n  \"metadata\": {\n    \"example\": \"rl_runs/walk.json\"\n  },\n  \"outputs\": {\n    \"formats\": [\n      \"onnx\",\n      \"pt\",\n      \"torchscript\"\n    ],\n    \"videos\": [\n      {\n        \"command\": {\n          \"vx\": 0.3\n        },\n        \"seconds\": 8\n      }\n    ]\n  },\n  \"robot\": \"open_duck_mini_v2\",\n  \"seeds\": 1,\n  \"task\": {\n    \"commands\": {\n      \"vx\": [\n        0.2,\n        0.4\n      ],\n      \"vy\": [\n        -0.05,\n        0.05\n      ],\n      \"yaw\": [\n        -0.2,\n        0.2\n      ]\n    },\n    \"objective\": \"velocity\"\n  },\n  \"title\": \"Open Duck: steady walk (fine-tuned)\"\n}")
  .asString();

require 'uri'
require 'net/http'

url = URI("https://api.kiteml.com/v1/rl_runs")

http = Net::HTTP.new(url.host, url.port)
http.use_ssl = true

request = Net::HTTP::Post.new(url)
request["Authorization"] = 'Bearer <token>'
request["Content-Type"] = 'application/json'
request.body = "{\n  \"budget\": {\n    \"iterations\": 500,\n    \"max_tokens\": 400\n  },\n  \"description\": \"Walk forward at a steady pace with a level body and alternating feet.\",\n  \"from\": {\n    \"policy\": \"4d574ce4c547\"\n  },\n  \"hardware_tier\": \"gcp_gpu_l4\",\n  \"metadata\": {\n    \"example\": \"rl_runs/walk.json\"\n  },\n  \"outputs\": {\n    \"formats\": [\n      \"onnx\",\n      \"pt\",\n      \"torchscript\"\n    ],\n    \"videos\": [\n      {\n        \"command\": {\n          \"vx\": 0.3\n        },\n        \"seconds\": 8\n      }\n    ]\n  },\n  \"robot\": \"open_duck_mini_v2\",\n  \"seeds\": 1,\n  \"task\": {\n    \"commands\": {\n      \"vx\": [\n        0.2,\n        0.4\n      ],\n      \"vy\": [\n        -0.05,\n        0.05\n      ],\n      \"yaw\": [\n        -0.2,\n        0.2\n      ]\n    },\n    \"objective\": \"velocity\"\n  },\n  \"title\": \"Open Duck: steady walk (fine-tuned)\"\n}"

response = http.request(request)
puts response.read_body

{
  "data": [
    {
      "budget": {
        "iterations": 500,
        "max_tokens": 400,
        "num_envs": 2048
      },
      "created_at": "2026-09-28T19:15:36.753577Z",
      "description": "Walk forward at a steady pace with a level body and alternating feet.",
      "engine": "2026-09-28",
      "from": {
        "mode": "fork",
        "policy": "4d574ce4c547"
      },
      "group_id": "rlg_01M3MQ39HV4YNTWNNY2GHM55VC",
      "hardware_tier": "gcp_gpu_l4",
      "id": "rlr_01M3MQ39HVAEBQ3F64K6JDF9XR",
      "metadata": {
        "example": "rl_runs/walk.json"
      },
      "metrics": {
        "terms": {}
      },
      "object": "rl_run",
      "outputs": {
        "formats": [
          "onnx",
          "pt",
          "torchscript"
        ],
        "videos": [
          {
            "command": {
              "vx": 0.3
            },
            "seconds": 8
          }
        ]
      },
      "progress": 0,
      "robot": "open_duck_mini_v2",
      "seed": 0,
      "status": "queued",
      "status_message": "waiting for a machine",
      "task": {
        "commands": {
          "vx": [
            0.2,
            0.4
          ],
          "vy": [
            -0.05,
            0.05
          ],
          "yaw": [
            -0.2,
            0.2
          ]
        },
        "objective": "velocity",
        "params": {},
        "scene": {
          "items": []
        }
      },
      "title": "Open Duck: steady walk (fine-tuned)",
      "tokens": {
        "charged": 0,
        "refunded": 0,
        "reserved": 167
      },
      "visibility": "private"
    }
  ],
  "has_more": false,
  "object": "list"
}

{
  "error": {
    "type": "<string>",
    "code": "<string>",
    "message": "<string>",
    "param": "<string>",
    "request_id": "<string>",
    "details": {}
  }
}

{
  "error": {
    "type": "<string>",
    "code": "<string>",
    "message": "<string>",
    "param": "<string>",
    "request_id": "<string>",
    "details": {}
  }
}

{
  "error": {
    "type": "<string>",
    "code": "<string>",
    "message": "<string>",
    "param": "<string>",
    "request_id": "<string>",
    "details": {}
  }
}

{
  "error": {
    "type": "<string>",
    "code": "<string>",
    "message": "<string>",
    "param": "<string>",
    "request_id": "<string>",
    "details": {}
  }
}

{
  "error": {
    "type": "<string>",
    "code": "<string>",
    "message": "<string>",
    "param": "<string>",
    "request_id": "<string>",
    "details": {}
  }
}

{
  "error": {
    "type": "<string>",
    "code": "<string>",
    "message": "<string>",
    "param": "<string>",
    "request_id": "<string>",
    "details": {}
  }
}

{
  "error": {
    "type": "<string>",
    "code": "<string>",
    "message": "<string>",
    "param": "<string>",
    "request_id": "<string>",
    "details": {}
  }
}

Authorizations

Authorization

string

header

required

A Kite API key (kite_...), from Platform API → Keys in the dashboard.

Headers

Idempotency-Key

string | null

Maximum string length: 255

Kite-Version

enum<string>

default:2026-09-27

The dated contract your code was written against. Without it you get 2026-09-27; every response says which version served it.

Available options:

2026-09-27

Body

application/json

Train a policy. Only robot and task.objective are required.

robot

string

required

See GET /v1/rl_runs/catalog

task

RlTask · object

required

What to learn.

Show child attributes

engine

string | null

The dated trainer to use (default: the latest, or the parent's for a fork or continue of your run). A run keeps its engine

budget

RlBudget · object

Show child attributes

seeds

default:1

A count (1-5) or explicit seeds: one run per seed, sharing a group_id

from

RlFrom · object | null

Start from another policy instead of from scratch.

Show child attributes

outputs

RlOutputs · object

Extras beyond what every run produces (ONNX, the checkpoint, the scene, one clip, the report).

Show child attributes

hardware_tier

string | null

See GET /v1/rl_runs/catalog (default gcp_gpu_l4)

visibility

enum<string>

default:private

public lists the run in the policy catalog once it finishes with a pass verdict

Available options:

private,

public

title

string | null

Maximum string length: 120

description

string | null

What the behavior should look like; the report's judge compares the clip against it

Maximum string length: 2000

metadata

Metadata · object

Your labels, echoed on the run

Show child attributes

webhook_metadata

Webhook Metadata · object | null

Echoed on the run and its events

Response

One run per seed, queued

data

RlRun · object[]

required

Show child attributes

has_more

boolean

required

object

enum<string>

default:list

Available options:

list

Allowed value: "list"

next_cursor

string | null

Create Run

curl --request POST \
  --url https://api.kiteml.com/v1/rl_runs \
  --header 'Authorization: Bearer <token>' \
  --header 'Content-Type: application/json' \
  --data '
{
  "budget": {
    "iterations": 500,
    "max_tokens": 400
  },
  "description": "Walk forward at a steady pace with a level body and alternating feet.",
  "from": {
    "policy": "4d574ce4c547"
  },
  "hardware_tier": "gcp_gpu_l4",
  "metadata": {
    "example": "rl_runs/walk.json"
  },
  "outputs": {
    "formats": [
      "onnx",
      "pt",
      "torchscript"
    ],
    "videos": [
      {
        "command": {
          "vx": 0.3
        },
        "seconds": 8
      }
    ]
  },
  "robot": "open_duck_mini_v2",
  "seeds": 1,
  "task": {
    "commands": {
      "vx": [
        0.2,
        0.4
      ],
      "vy": [
        -0.05,
        0.05
      ],
      "yaw": [
        -0.2,
        0.2
      ]
    },
    "objective": "velocity"
  },
  "title": "Open Duck: steady walk (fine-tuned)"
}
'

import requests

url = "https://api.kiteml.com/v1/rl_runs"

payload = {
    "budget": {
        "iterations": 500,
        "max_tokens": 400
    },
    "description": "Walk forward at a steady pace with a level body and alternating feet.",
    "from": { "policy": "4d574ce4c547" },
    "hardware_tier": "gcp_gpu_l4",
    "metadata": { "example": "rl_runs/walk.json" },
    "outputs": {
        "formats": ["onnx", "pt", "torchscript"],
        "videos": [
            {
                "command": { "vx": 0.3 },
                "seconds": 8
            }
        ]
    },
    "robot": "open_duck_mini_v2",
    "seeds": 1,
    "task": {
        "commands": {
            "vx": [0.2, 0.4],
            "vy": [-0.05, 0.05],
            "yaw": [-0.2, 0.2]
        },
        "objective": "velocity"
    },
    "title": "Open Duck: steady walk (fine-tuned)"
}
headers = {
    "Authorization": "Bearer <token>",
    "Content-Type": "application/json"
}

response = requests.post(url, json=payload, headers=headers)

print(response.text)

const options = {
  method: 'POST',
  headers: {Authorization: 'Bearer <token>', 'Content-Type': 'application/json'},
  body: JSON.stringify({
    budget: {iterations: 500, max_tokens: 400},
    description: 'Walk forward at a steady pace with a level body and alternating feet.',
    from: {policy: '4d574ce4c547'},
    hardware_tier: 'gcp_gpu_l4',
    metadata: {example: 'rl_runs/walk.json'},
    outputs: {
      formats: ['onnx', 'pt', 'torchscript'],
      videos: [{command: {vx: 0.3}, seconds: 8}]
    },
    robot: 'open_duck_mini_v2',
    seeds: 1,
    task: {
      commands: {vx: [0.2, 0.4], vy: [-0.05, 0.05], yaw: [-0.2, 0.2]},
      objective: 'velocity'
    },
    title: 'Open Duck: steady walk (fine-tuned)'
  })
};

fetch('https://api.kiteml.com/v1/rl_runs', options)
  .then(res => res.json())
  .then(res => console.log(res))
  .catch(err => console.error(err));

<?php

$curl = curl_init();

curl_setopt_array($curl, [
  CURLOPT_URL => "https://api.kiteml.com/v1/rl_runs",
  CURLOPT_RETURNTRANSFER => true,
  CURLOPT_ENCODING => "",
  CURLOPT_MAXREDIRS => 10,
  CURLOPT_TIMEOUT => 30,
  CURLOPT_HTTP_VERSION => CURL_HTTP_VERSION_1_1,
  CURLOPT_CUSTOMREQUEST => "POST",
  CURLOPT_POSTFIELDS => json_encode([
    'budget' => [
        'iterations' => 500,
        'max_tokens' => 400
    ],
    'description' => 'Walk forward at a steady pace with a level body and alternating feet.',
    'from' => [
        'policy' => '4d574ce4c547'
    ],
    'hardware_tier' => 'gcp_gpu_l4',
    'metadata' => [
        'example' => 'rl_runs/walk.json'
    ],
    'outputs' => [
        'formats' => [
                'onnx',
                'pt',
                'torchscript'
        ],
        'videos' => [
                [
                                'command' => [
                                                                'vx' => 0.3
                                ],
                                'seconds' => 8
                ]
        ]
    ],
    'robot' => 'open_duck_mini_v2',
    'seeds' => 1,
    'task' => [
        'commands' => [
                'vx' => [
                                0.2,
                                0.4
                ],
                'vy' => [
                                -0.05,
                                0.05
                ],
                'yaw' => [
                                -0.2,
                                0.2
                ]
        ],
        'objective' => 'velocity'
    ],
    'title' => 'Open Duck: steady walk (fine-tuned)'
  ]),
  CURLOPT_HTTPHEADER => [
    "Authorization: Bearer <token>",
    "Content-Type: application/json"
  ],
]);

$response = curl_exec($curl);
$err = curl_error($curl);

curl_close($curl);

if ($err) {
  echo "cURL Error #:" . $err;
} else {
  echo $response;
}

package main

import (
	"fmt"
	"strings"
	"net/http"
	"io"
)

func main() {

	url := "https://api.kiteml.com/v1/rl_runs"

	payload := strings.NewReader("{\n  \"budget\": {\n    \"iterations\": 500,\n    \"max_tokens\": 400\n  },\n  \"description\": \"Walk forward at a steady pace with a level body and alternating feet.\",\n  \"from\": {\n    \"policy\": \"4d574ce4c547\"\n  },\n  \"hardware_tier\": \"gcp_gpu_l4\",\n  \"metadata\": {\n    \"example\": \"rl_runs/walk.json\"\n  },\n  \"outputs\": {\n    \"formats\": [\n      \"onnx\",\n      \"pt\",\n      \"torchscript\"\n    ],\n    \"videos\": [\n      {\n        \"command\": {\n          \"vx\": 0.3\n        },\n        \"seconds\": 8\n      }\n    ]\n  },\n  \"robot\": \"open_duck_mini_v2\",\n  \"seeds\": 1,\n  \"task\": {\n    \"commands\": {\n      \"vx\": [\n        0.2,\n        0.4\n      ],\n      \"vy\": [\n        -0.05,\n        0.05\n      ],\n      \"yaw\": [\n        -0.2,\n        0.2\n      ]\n    },\n    \"objective\": \"velocity\"\n  },\n  \"title\": \"Open Duck: steady walk (fine-tuned)\"\n}")

	req, _ := http.NewRequest("POST", url, payload)

	req.Header.Add("Authorization", "Bearer <token>")
	req.Header.Add("Content-Type", "application/json")

	res, _ := http.DefaultClient.Do(req)

	defer res.Body.Close()
	body, _ := io.ReadAll(res.Body)

	fmt.Println(string(body))

}

HttpResponse<String> response = Unirest.post("https://api.kiteml.com/v1/rl_runs")
  .header("Authorization", "Bearer <token>")
  .header("Content-Type", "application/json")
  .body("{\n  \"budget\": {\n    \"iterations\": 500,\n    \"max_tokens\": 400\n  },\n  \"description\": \"Walk forward at a steady pace with a level body and alternating feet.\",\n  \"from\": {\n    \"policy\": \"4d574ce4c547\"\n  },\n  \"hardware_tier\": \"gcp_gpu_l4\",\n  \"metadata\": {\n    \"example\": \"rl_runs/walk.json\"\n  },\n  \"outputs\": {\n    \"formats\": [\n      \"onnx\",\n      \"pt\",\n      \"torchscript\"\n    ],\n    \"videos\": [\n      {\n        \"command\": {\n          \"vx\": 0.3\n        },\n        \"seconds\": 8\n      }\n    ]\n  },\n  \"robot\": \"open_duck_mini_v2\",\n  \"seeds\": 1,\n  \"task\": {\n    \"commands\": {\n      \"vx\": [\n        0.2,\n        0.4\n      ],\n      \"vy\": [\n        -0.05,\n        0.05\n      ],\n      \"yaw\": [\n        -0.2,\n        0.2\n      ]\n    },\n    \"objective\": \"velocity\"\n  },\n  \"title\": \"Open Duck: steady walk (fine-tuned)\"\n}")
  .asString();

require 'uri'
require 'net/http'

url = URI("https://api.kiteml.com/v1/rl_runs")

http = Net::HTTP.new(url.host, url.port)
http.use_ssl = true

request = Net::HTTP::Post.new(url)
request["Authorization"] = 'Bearer <token>'
request["Content-Type"] = 'application/json'
request.body = "{\n  \"budget\": {\n    \"iterations\": 500,\n    \"max_tokens\": 400\n  },\n  \"description\": \"Walk forward at a steady pace with a level body and alternating feet.\",\n  \"from\": {\n    \"policy\": \"4d574ce4c547\"\n  },\n  \"hardware_tier\": \"gcp_gpu_l4\",\n  \"metadata\": {\n    \"example\": \"rl_runs/walk.json\"\n  },\n  \"outputs\": {\n    \"formats\": [\n      \"onnx\",\n      \"pt\",\n      \"torchscript\"\n    ],\n    \"videos\": [\n      {\n        \"command\": {\n          \"vx\": 0.3\n        },\n        \"seconds\": 8\n      }\n    ]\n  },\n  \"robot\": \"open_duck_mini_v2\",\n  \"seeds\": 1,\n  \"task\": {\n    \"commands\": {\n      \"vx\": [\n        0.2,\n        0.4\n      ],\n      \"vy\": [\n        -0.05,\n        0.05\n      ],\n      \"yaw\": [\n        -0.2,\n        0.2\n      ]\n    },\n    \"objective\": \"velocity\"\n  },\n  \"title\": \"Open Duck: steady walk (fine-tuned)\"\n}"

response = http.request(request)
puts response.read_body

{
  "data": [
    {
      "budget": {
        "iterations": 500,
        "max_tokens": 400,
        "num_envs": 2048
      },
      "created_at": "2026-09-28T19:15:36.753577Z",
      "description": "Walk forward at a steady pace with a level body and alternating feet.",
      "engine": "2026-09-28",
      "from": {
        "mode": "fork",
        "policy": "4d574ce4c547"
      },
      "group_id": "rlg_01M3MQ39HV4YNTWNNY2GHM55VC",
      "hardware_tier": "gcp_gpu_l4",
      "id": "rlr_01M3MQ39HVAEBQ3F64K6JDF9XR",
      "metadata": {
        "example": "rl_runs/walk.json"
      },
      "metrics": {
        "terms": {}
      },
      "object": "rl_run",
      "outputs": {
        "formats": [
          "onnx",
          "pt",
          "torchscript"
        ],
        "videos": [
          {
            "command": {
              "vx": 0.3
            },
            "seconds": 8
          }
        ]
      },
      "progress": 0,
      "robot": "open_duck_mini_v2",
      "seed": 0,
      "status": "queued",
      "status_message": "waiting for a machine",
      "task": {
        "commands": {
          "vx": [
            0.2,
            0.4
          ],
          "vy": [
            -0.05,
            0.05
          ],
          "yaw": [
            -0.2,
            0.2
          ]
        },
        "objective": "velocity",
        "params": {},
        "scene": {
          "items": []
        }
      },
      "title": "Open Duck: steady walk (fine-tuned)",
      "tokens": {
        "charged": 0,
        "refunded": 0,
        "reserved": 167
      },
      "visibility": "private"
    }
  ],
  "has_more": false,
  "object": "list"
}

{
  "error": {
    "type": "<string>",
    "code": "<string>",
    "message": "<string>",
    "param": "<string>",
    "request_id": "<string>",
    "details": {}
  }
}

{
  "error": {
    "type": "<string>",
    "code": "<string>",
    "message": "<string>",
    "param": "<string>",
    "request_id": "<string>",
    "details": {}
  }
}

{
  "error": {
    "type": "<string>",
    "code": "<string>",
    "message": "<string>",
    "param": "<string>",
    "request_id": "<string>",
    "details": {}
  }
}

{
  "error": {
    "type": "<string>",
    "code": "<string>",
    "message": "<string>",
    "param": "<string>",
    "request_id": "<string>",
    "details": {}
  }
}

{
  "error": {
    "type": "<string>",
    "code": "<string>",
    "message": "<string>",
    "param": "<string>",
    "request_id": "<string>",
    "details": {}
  }
}

{
  "error": {
    "type": "<string>",
    "code": "<string>",
    "message": "<string>",
    "param": "<string>",
    "request_id": "<string>",
    "details": {}
  }
}

{
  "error": {
    "type": "<string>",
    "code": "<string>",
    "message": "<string>",
    "param": "<string>",
    "request_id": "<string>",
    "details": {}
  }
}

API keys

Augmentations

Training runs

Catalog

Twins

RL runs

Operations

Webhooks

Usage

Create Run

Authorizations

Headers

Body

Response