What are the number of training rounds and the number of environments used in the velocity training of G1?

[ywh-yyz]

Hello, may I ask what the number of training epochs and the number of environments used for the G1 velocity training model and the dance model provided by you on the deploy platform are?

[klavier1127]

The G1 velocity training model were trained for 10,000 iterations and the dance model were trained for 30,000 iterations