Scenario packs from the headset: falls and stuck moments, captured with the room, terrain and the commands that led there. Tick the ones to train on.

Local fine-tune: evolution strategies on the walking policy's last layer, in MuJoCo on this PC, with shoves and noise. Checked on held-out seeds and on plain floor before it is released.

Take the ticked test cases (and your motion sets) to any simulator or trainer: MuJoCo scenes of your room, meshes for other engines, the recorded run as a dataset, the policies and a Python environment, in one .zip. Brains trained elsewhere come back as a release folder.