Data and model artifacts for Mechanical-Work-Aware Routing of One-Sided PPO Experts for Planar Bipedal Foot Placement

Research data, model checkpoints, and supplementary hardware videos supporting the manuscript “Mechanical-Work-Aware Routing of One-Sided PPO Experts for Planar Bipedal Foot Placement.” The deposit contains a twelve-cell action-weight HDF5 archive, the fine ATC-50 and coarse offline routing lookups, two-link multi-step records, four-link trial-level files, fixed-checkpoint analysis outputs, model checkpoints, hardware feasibility videos, machine-readable manifests, and SHA-256 checksums. The related source-code release is archived at https://doi.org/10.5281/zenodo.21406793. Cmt is a normalized positive commanded mechanical-work metric and not a direct battery-energy measurement; the hardware videos are feasibility demonstrations only.