I've gotten a mujoco sim RL training loop for... a unitree robot at 200k SPS. I'm looking into the physics for friction, contact dynamics. My goal: can I reproduce & beat the mujoco playground RL baselines This is running in my web browser with raylib. Its the baselineshow more

Fixed a numerics bug on the training loop, and... got the training down from 52 minutes to 45 minutes Only 15 minutes away from beating the deepmind mujoco playground baseline!show more

For all the MuJoCo fans: MimicKit now supports Newton... / MuJoCo Warp! Fast, lightweight MuJoCo physics with Warp acceleration. Coming up: God's physics engineshow more

We built a high-fidelity, cable-driven robotic hand in MuJoCo... — accurately reproducing the full internal tendon system 🤖🧩 It’s now officially part of the MuJoCo Menagerie. On top of it, we developed a zero-shot RL training & real-world deployment pipeline based on MuJoCo Playground. Here’s a demo of Z-axis rotation, powered by tendon actuation ⚙️👇 💻 GitHub: 🔗 Learn more: #robotics #AI #reinforcementlearning #mujoco #opensource #sim2real #dexteroushandshow more

today; the goal is to reduce the time of... training for this by 10x. This took 27.8 minutes to train at 200m steps 120k steps per second. reproduction from mujoco playground using mjwarpshow more

System identification (sysid) is the process of finding the... physical parameters that make a simulation match reality. If you're training an RL locomotion policy in simulation, the accuracy of your motor model directly affects how well the policy transfers to the real robot. A recent git commit by Kevin Zakka added a sysid toolbox to MuJoCo which automates this process: you provide recorded motor data and a MuJoCo model, and it optimizes the model parameters to minimize the difference between simulated and real trajectories. For my RobStride Dynamics RS02 QDD motors (17 Nm peak, 7.75:1 gear), I built a Rust tool that sends multi-sine torque excitation at 1 kHz and records position/velocity feedback. I then feed this data into MuJoCo's sysid optimizer.show more

result of some overnight sweeping with my simulator. it... looks like its abusing something to move faster, but the good news is that the same behaviour transfers to mujoco cpu This is my policy trained on dingsim, top running on dingsim, and bottom on mujocoshow more

GPT-6 Astra test 4/n Prompt: "Implement pen spinning with... a dexterous hand. Use Isaac Lab for RL training, use the Sharpa hand, and create the pen mesh yourself. Give me a trained RL policy and a visualization video. You are free to search the web and download papers or anything else you need." After running autonomously for a day and a half (including training the policy), this is what we got: Credit: my student Chengyang Lishow more

Learn How To Build a Gemini-Powered Robotics Simulator in... the Browser with MuJoCo WASM. MuJoCo (WebAssembly) + Three.js + Gemini ER Thanks for sharing, Omar Sanseviero! 📍Tutorial: Demo: —— if it matters in AI or Robotics you'll see it here first:show more

This is running in my web browser on my... laptop. It's deterministic and running using webgpu Tonight; I have a /goal going where it is going to set up one of my 4090s as the authority server, and then test all the rollback code. Goal is 50k boxes simmed per user, up to 512 users. Massively multiplayer massively rigid body physics online games inside your web browser. Why the hell not, we've got the tokens to spare!show more

I just released a first video deep dive into... my LeHome Challenge solution (🥇 sim round, 🥈 real-robot final at ICRA 2026). I already shared what I did and the video series is about why: the reasoning, the alternatives I rejected, and the intuition behind each choice. I split the whole video explanation into 3 parts: Part 1 is about RL for VLAs 👇show more

Yes, such a great BioRob meeting. Enjoyed catching up... with everyone. Great to see all the RL+biomechanics here. Also honored that our work on imitation learning for gait analysis was another best paper finalist Nice updates in MuJoCo coming soon!show more

hi all, excited to join! i'm building an expressive... mini "shoggoth" robot which will eventually be hooked up to gpt4o realtime voice. i'm currently working on the low-level policies, which are trained in a mujoco simulation with RL. to delay working on raw-pixels for now, i trained a pose-estimation model using deeplabcut and triangulate the position in 3d space using the stereo cameras. eventually, i'll use gpt4o's tool calling capabilities to activate several of these policies (closed and open loop) based on the dialog flow! captions: manual actuation of the tentacle / 3d pose estimation / target designshow more

researcher friend of mine shared this with me; comfree-sim.... which is basically existence proof of my hunch: mujoco has terrible performance, and there are probably huge huge gains you can make in training, especially considering domain randomizationshow more

This is how Strike Robot turns Simulation into Reality!... One of the biggest challenges in robotics is ensuring that behaviors validated in simulation work reliably in the real world. For this experiment, we reconstructed part of a real laboratory at Eastworlds inside SR Platform. The generated layout was then deployed into MuJoCo. Using SR Agentic, the robot was tasked with finding abnormal objects in a cluttered environment and sending a Telegram notification when detected. Before deployment, everything is validated in simulation.show more

We organized an RL competition during the first Openmind... Research Institute Winter School in Malaysia. The participants were able to implement SARSA and SAC in just 2 days onboard our Embodied MuJoCo Ant! 🎉show more

I spent some time last week vibe-coding "The Beginner's... RL Playground" a simple web tool for exploring many basic concepts in reinforcement learning. Users can adjust all sorts of parameters of the algorithm and environment and see the effects of those changes in realtime.show more

Bench is a constant struggle bus. Managed a single... at 315 with the Slingshot this morning. My goal for 2025 was to hit this raw. Unlikely at this point. I've got pain in both shoulders now. Doing what I can...show more

What I love about Replit ⠕. Low floor to... get started. Ultra high ceiling for what you can build. I told Agent to build a native C application that runs on my desktop without a web browser - AND compile it into JavaScript to run in the web browser. Here's a video showing both runningshow more

fell for a g*rl in the holy month….

Mujoco + 3DGS on browser, imported from Fei-Fei Li... ‘s World Labs Import any robot into any 3DGS scene Play the simulation on your phone EE control on XLeRobot and Frankashow more