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

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

Excited to share a few presentations, demos, and workshop... talks from our group and collaborators at #ICRA2026! We will present recent work on real-to-sim-to-real robot policy evaluation, model-based planning with learned dynamics, and multi-modal manipulation. We will also have a joint live demo between SceniX and Analog Devices, Inc. on real-to-sim-to-real cable manipulation at the ICRA exhibition. This is a small teaser of what we have been building, with more to come soon! If you are at ICRA, please stop by the sessions or the demo booth. Happy to chat about robot learning, simulation, world models, and sim-to-real!show more

System ID for legged robots is hard: (1) Discontinuous... dynamics and (2) many parameters to identify and hard to "excite" them. SPI-Active is a general tool for legged robot system ID. Key ideas: (1) massively parallel sampling-based optimization, (2) structured parameter space, and (3) active exploration based on Fisher Information to collect the most informative data in real. SPI-Active provides an accurate robot model and effectively reduces the sim2real gap. In sim2real policy learning setting, it outperforms baselines by 42-63% in various quadruped & humanoid tasks. Led by Nikhil Sobanbabu Guanqi Heshow more

In flow matching, a coupling determines how noise and... data samples are paired during training. The choice of coupling is important because it influences the geometry of trajectories at inference time. The simplest choice is the independent coupling, where noise and data points are paired arbitrarily. This can lead to curved trajectories as the model averages over many conflicting pairings. However, if we use optimal transport on batches of pairs, this leads to fewer ambiguous intersections that the model must resolve, leading to straighter trajectories at inference time.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

A Letter to Our Community: The Road Ahead for... Robotics To our Community and Partners, As we step into 2026, our mission at Axis is clearer than ever: Constructing the definitive End-to-End Scaling Layer for Robotics. Our goal is to accelerate the transfer of diverse human intelligence into Robotics General Intelligence (RGI). By owning the critical path of intelligence creation, we are turning the physical limitations of robotics into a scalable, software-driven future. Here is our strategic outlook and roadmap for the year ahead. The Core Thesis: Simulation is the Only Way Out The path to RGI is currently blocked by Data Scarcity, Generalization Fragility, and Hardware Fragmentation. At Axis, we believe Simulation is the only way out. Our Simulation Data Platform and Data Augmentation Engine transform raw data into "Synthetic Gold". Backed by academic milestones like Roboverse, Skill Blending, and GraspVLA, we have proven that pure simulation can achieve the generalization required for the real world. We don’t just collect data; we architect it. The Engine: Why Crypto? We believe RGI should come from all, not a few. Crypto is not just a feature; it is the primitive that powers our entire ecosystem flywheel: - Incentive Mechanism: Democratizing contribution and rewarding the trainers and developers. - Assetization: Turning proprietary data and refined models into liquid, ownable assets. - Verifiable Workflow: We are opening the "Black Box" of AI. By bringing total transparency to the Task Generation → Data Collection → Model Training pipeline, we ensure every byte of intelligence is verifiable, traceable, and secure. 2026 Strategic Deliverables This year, we are committed to delivering three foundational pillars: - The World's Largest Training Dataset for Robots: A robot training set—diverse, high-quality interaction data at an unprecedented scale. - A Robotics Foundation Model: A universal robotic brain trained on our pure simulation and synthetic data, capable of robust cross-embodiment transfer and open-world adaptability. - Evolvable Robot Hardware: Robots deployed with Axis models that autonomously evolve through continuous interaction, turning every deployment into a self-improving node within our RGI network. The Ultimate Vision We are building more than models; we are architecting the Distributed Machine Economy. A future where every dataset, model, and robotic embodiment is a verifiable asset in a global, autonomous network. Thank you for building the future of intelligence with us✌️📷show more

AI has had exactly two scaling axes that worked... so far, and the second one is starting to look finite too the first one was pretraining: with scaling parameters and data, we got world knowledge (i.e. ChatGPT had read enough to know things), but it started saturating a while ago the second one was RL, and people had been doing RL the whole time before that: RLHF is RL but it never scaled far because it was trying to control the exact output, which tokens come out, how the text reads, but you can only push that so far before you’re just polishing RLVR dropped that constraint: giving the model a task, then checking whether the final answer is right, and ignoring everything in between -- so the model does whatever it wants in the middle and only the endpoint gets graded, and that’s much closer to actual RL and it’s what bought us planning and reasoning (arguably, tool use sits around 2.5 on this list -- while useful, it's not a different kind of thing) so one axis gave knowledge, the other gave reasoning, and both of them are one model working alone the next axis is how many models you can get working on the same problem, which is a different kind of axis than the previous two we know that multi-agent RL has always been the harder problem: I spent years in that literature and the gap between single-agent and multi-agent is definitely not incremental -- it’s a whole different class of difficulty! which is also why the derivatives are steep at the start, nobody has picked the easy wins yet... and the thing that gates this multi-agent coordination is communication: models can only coordinate as well as they can exchange information, and right now they do that by writing sentences to each other imagine what could we possibly achieve if we properly open that third axis development by letting models to exchange information in their native "language" without loosing any computational data that they produce during inferenceshow more

𝗣𝗼𝗽𝘂𝗹𝗮𝗿 𝗼𝗽𝗶𝗻𝗶𝗼𝗻: "𝗝𝘂𝘀𝘁 𝗴𝗲𝗻𝗲𝗿𝗮𝘁𝗲 𝗺𝗼𝗿𝗲 𝘀𝗶𝗺𝘂𝗹𝗮𝘁𝗶𝗼𝗻 𝗱𝗮𝘁𝗮." After working... with many 𝗿𝗼𝗯𝗼𝘁 𝗺𝗮𝗻𝗶𝗽𝘂𝗹𝗮𝘁𝗶𝗼𝗻 teams who've fallen into the simulation trap, here's what I've learned: Simulation teaches your robot to be really, really good at simulation. Unlike blind locomotion policies that can get away with sim-to-real transfer because they rely mainly on proprioception and contact forces, 𝘃𝗶𝘀𝗶𝗼𝗻-𝗴𝘂𝗶𝗱𝗲𝗱 𝗺𝗮𝗻𝗶𝗽𝘂𝗹𝗮𝘁𝗶𝗼𝗻 𝗶𝘀 𝗲𝘅𝘁𝗿𝗲𝗺𝗲𝗹𝘆 𝘀𝗲𝗻𝘀𝗶𝘁𝗶𝘃𝗲 𝘁𝗼 𝘃𝗶𝘀𝘂𝗮𝗹 𝗱𝗼𝗺𝗮𝗶𝗻 𝗴𝗮𝗽. The subtle differences accumulate: - Simulated friction vs real surface textures - Perfect lighting vs shadows, reflections, glare - Ideal object geometries vs manufacturing tolerances - Instantaneous sensor readings vs real-world noise and latency - Clean backgrounds vs cluttered, dynamic environments 𝗧𝗵𝗲 𝗰𝗹𝗮𝘀𝘀𝗶𝗰 𝗽𝗿𝗼𝗴𝗿𝗲𝘀𝘀𝗶𝗼𝗻: Week 1: "Our model works perfectly in sim!" Week 2: "Let's collect some real data to fine-tune." Week 3: "The real data completely contradicts what the sim taught..." Week 4: "Okay, let's collect way more real data." Month 2: "We basically need to retrain from scratch." 𝗧𝗵𝗲 𝗽𝗮𝗶𝗻𝗳𝘂𝗹 𝘁𝗿𝘂𝘁𝗵: There's no shortcut to real-world data collection for vision-based manipulation. Simulation is amazing for debugging, prototyping, safety testing, and of course to supplement your real data. But it's not a substitute for understanding how your robot actually behaves in the actual environment. 𝗪𝗵𝗮𝘁 𝘄𝗼𝗿𝗸𝘀: Use simulation strategically - for exploring edge cases, testing safety boundaries, and rapid iteration. But build your production models on real data from real environments. The teams that succeed treat simulation as a powerful tool, not a magic solution. This is why Neuracore focuses on making real-world data collection so much easier and faster. Because the physics of your actual environment can't be simulated away. 𝗪𝗼𝗿𝗹𝗱 𝗺𝗼𝗱𝗲𝗹𝘀, 𝘆𝗼𝘂 𝘀𝗮𝘆? 𝗪𝗲𝗹𝗹, 𝗽𝗲𝗿𝗵𝗮𝗽𝘀 𝗺𝗼𝗿𝗲 𝗼𝗻 𝘁𝗵𝗮𝘁 𝗶𝗻 𝗮𝗻𝗼𝘁𝗵𝗲𝗿 𝗽𝗼𝘀𝘁! 𝗪𝗵𝗮𝘁'𝘀 𝗯𝗲𝗲𝗻 𝘆𝗼𝘂𝗿 𝗲𝘅𝗽𝗲𝗿𝗶𝗲𝗻𝗰𝗲 𝘄𝗶𝘁𝗵 𝘀𝗶𝗺-𝘁𝗼-𝗿𝗲𝗮𝗹 𝘁𝗿𝗮𝗻𝘀𝗳𝗲𝗿? 𝗛𝗮𝘀 𝗶𝘁 𝘄𝗼𝗿𝗸𝗲𝗱 𝗮𝘀 𝘄𝗲𝗹𝗹 𝗮𝘀 𝗲𝘅𝗽𝗲𝗰𝘁𝗲𝗱?show more

Your model crushed the benchmark. Then it couldn’t pick... up a cup. That’s the reality nobody talks about. You train in simulation, it falls apart on real hardware. You collect real-world data instead (months of teleop, physical setups, safety protocols) and still can’t scale it. Meanwhile, your model outgrows every available benchmark, and you have no way to know if you’re actually getting better. That costs you iteration speed. Engineering hours. And confidence in every decision about when to ship. This year I’m collaborating with Lightwheel to cover robotics and embodied AI at NVIDIA GTC — Booth 1406, March 16–19, San Jose. Live demos of what happens when the physics ACTUALLY match. Worth a stop. I’ll be there. Saying hello to Steve Xie 👋show more

Your model can't zoom up as much as your... friends? Send this to your rigger❗️ - In the video, left side is adjusted exported param, right side is the default. - The left model has a more close up default state and can zoom up more than the right The export parameters that you should pay attention to - Center of model Y vertically affects the center of exported model - Canvas scale unit: How big the default state of your model is Personally I would recommend having - Center of model Y at 0.25 - 0.15 ( to focus on the face) - Canvas scale unit: 4.0 #live2d #live2dtip #vtubestudioshow more

I present the Timeless Transitional Universe Theory V9 TUTT... - Space is not a VOID but a fluid dynamic fabric. I’ve unified strong and weak nuclear force, gravity, and electromagnetism my model functions between super activity and entropy. NEED PEER REVIEW HELP! You can see in the video clip, the activity of this fabric of space. My model uses the voyager probes to validate for empirical data. This is version nine of months of refinement. This model removes the man-made construct of temperature and time. Feel free to ask any questions. I recommend uploading these images to a GPT and then assessing its value :-) thank you for your time it is appreciated… Even though it is a man-made construct.show more

A viral paper "Language Model Represents Space and Time"... recently claims that LLMs learn "world models". As much as I like Max Tegmark's works, I disagree with their definition of world model. World model is a core concept in AI agent and decision making. It is our mental simulation of how the world works given interventions (or lack thereof). A world model captures causality and intuitive physics, telling the agent what is likely and what is impossible. It can and should be used for counterfactual reasoning, i.e. "what ifs": what would happen if I knock over a cup of water? Where would I have been if I had not taken that bus? Yann LeCun Yann LeCun says it well in his position paper ( I quote: "Using such world models, animals can learn new skills with very few trials. They can predict the consequences of their actions, they can reason, plan, explore, and imagine new solutions to problems. Importantly, they can also avoid making dangerous mistakes when facing an unknown situation." The first use of the term World Model in deep policy learning is attributed to hardmaru & Jürgen Schmidhuber: In their seminal paper, an agent masters shooting skills in the popular game Doom (demo below) by learning in imagination, using an internal world model as a "physics simulator". To put in a simple Python math formula, world model learns a function F(s[0:t-1], a) -> s[t:], which takes as input the observed past and current action, and outputs plausible future states. Now the definition of World Model in Tegmark's paper seems to be about predicting GPS coordinates and time eras. I see this as just a classification task with no causal learning and simulation going on. You cannot make meaningful interventions against that model, nor can you optimize any decision making in a closed feedback loop. As for the "space & time neurons", I think they are most similar to the "sentiment neuron" that OpenAI published in 2017: Predicting GPS is conceptually no different from predicting sentiment in my opinion. I don't think their experimental results are wrong - just that their conclusion is on shaky grounds. I welcome any debate! Paper link:show more

i built an open world minigame that's controlled with... hand movements only here's a step-by-step tutorial: > started with my mediapipe + threejs template (see QT) > added a 3D model made by quaternius > sent a few prompts to gemini 3... --- prompt #1: repurpose the attached script, but now I want to import a gltf model (assets/model.gltf) and use that in the scene instead of the cube when the user moves their hand, a waypoint indicator should move around the scene, and the 3D model should smoothly move there when the user makes a fist, the model should jump the 3D model contains bundled animations in it. use the "idle", "run", and "jump" animations --- prompt #2: make this a procedural open world adventure. generate very simple procedural voxel terrain when the model gets near the edges of the screen, the camera should move, allowing the model to keep going in that direction --- prompt #3: add some floating glowing gems around the map that the user can collect --- i made some manual tweaks for styling and game feel, but that's the gist of it thanks for reading if you got all the way here full code is available at my link in bioshow more

Pretty human-like hand Beijing-based SynapX will unveil its tendon-driven... OctoH-Hand at WRC. Human-scale in size, the hand uses a hybrid architecture combining fully tendon-driven actuation with direct-drive motors in the forearm. It integrates 28 independently controllable actuators and 23 active DoF, along with tactile sensors embedded in the palm. Interestingly…SynapX is building more than just a dexterous hand. It has also developed a World model(SYNWorld), and a data collection system(OctoSense), creating a loop from data collection to world understanding and policy generation, and finally to real-world execution and feedback. Another physical AI bridge for humanoid robots.show more

Former Harvard Women's Basketball standout Harmoni Turner settling in... incredible well offensively on Day 1 of training camp! (Saniya hyping her up at the end 🥹) I asked her about how she’s doing, especially in this process in the W. “The process has definitely been uphill, but I know where my end goal is, and I know that everything worthwhile is uphill. I know that sticking to the process is something that I've really honed on this year, this season, and understanding that I have a spot to earn, and I know that I'm ready this year.” Harmoni Turner The IX Sportsshow more

🧪 My GEN-3 Prompting Process I get a lot... of questions on how I find my prompts when using Image-2-Video in Runway. Here is a quick breakdown of the general thought process. If you have any further questions, let's chat in the comments below. 1️⃣ I always start by doing 3x generations without any prompts and additional settings. 2️⃣ I analyze those 3x generations and identify patterns. What did the model always do well, where did it fail. 3️⃣ I then use prompting and the different controllability features to eliminate where the model struggled on its own. --- General Tips --- *️⃣ There are some tokens which work universally. "Muted colors, low contrast" are great to preserve the colors of the original input image. "Static camera, natural movement" works fantastically to get cinematic shots. *️⃣ My I2V prompts are on the shorter side. It's usually a sentence describing the scene and then individual modifiers like the ones mentioned above to fix certain camera/lighting/movement artifacts. *️⃣ Start small and prompt engineer in steps. This is very much an iterative process which rewards you for understanding model behavior and knowing how to craft a visual architecture with words. --- Disclaimer --- Please note that this approach is more suitable for a professional workflow. Therefore, I recommend it for users on the unlimited plan who don't need to worry about credits.show more

You can now post-train a model inside your existing... production harness with our platform, AC2. A production harness is a whole engineered system around the LLM, with its own context management, tools, sandboxing, and control flows. Porting that into a new training runtime can be expensive and could introduce train-test mismatch, where the policy is optimized against a simulated harness and then struggles in production. All you need to do is swap out the harness’ LLM response endpoint to one provided by AC2, and expose a lightweight protocol for AC2 to initiate and grade rollouts; the trainer handles the rest.show more

Introducing RL Environment Creator Skill Now any one can... create RL environments $ npx skills add adithya-s-k/RL_Envs_101 > You can create environments across multiple frameworks like OpenEnv, OpenReward, Verifiers, NemoGym ... > the repo has live working examples of environments that your coding agent can reference > The skill is design to first understand what type of model you are training and create an environment while keeping that in mind ps. There’s a lot more to building RL environments that can be used for training. One major aspect is the data, which this skill can’t directly solve. However, the skill will help with implementing tools, rewards, and other components of an RL environment, making it easier to go from idea to implementation quickly across different frameworks. Let me know if you’d be interested in a detailed, end-to-end blog/tutorial on building an environment and actually training a model for a useful use case.show more

𝗘𝘃𝗲𝗿𝘆𝗼𝗻𝗲’𝘀 𝘁𝗮𝗹𝗸𝗶𝗻𝗴 𝗮𝗯𝗼𝘂𝘁 “𝗣𝗵𝘆𝘀𝗶𝗰𝗮𝗹 𝗔𝗜" - the idea that... we can simulate real-world environments so well that robots trained in simulation will work perfectly in reality. 𝗧𝗵𝗲 𝗽𝗿𝗼𝗺𝗶𝘀𝗲: Train in virtual worlds → deploy anywhere. 𝗧𝗵𝗲 𝗿𝗲𝗮𝗹𝗶𝘁𝘆: I’ve seen too many teams fall into this trap. After working with manipulation teams at Berkeley, Imperial, and Dyson, here’s the pattern: • 𝗪𝗲𝗲𝗸 𝟭: “Our policy works perfectly in simulation!” • 𝗪𝗲𝗲𝗸 𝟰: “Why doesn’t this work on real objects?” • 𝗠𝗼𝗻𝘁𝗵 𝟮: “We basically need to retrain from scratch with real data.” 𝗧𝗵𝗲 𝗴𝗮𝗽 𝘀𝗶𝗺𝘂𝗹𝗮𝘁𝗶𝗼𝗻𝘀 𝗰𝗮𝗻’𝘁 𝗯𝗿𝗶𝗱𝗴𝗲: Unlike blind locomotion policies that can get away with sim-to-real transfer because they rely mainly on proprioception and contact forces, 𝘃𝗶𝘀𝗶𝗼𝗻-𝗴𝘂𝗶𝗱𝗲𝗱 𝗺𝗮𝗻𝗶𝗽𝘂𝗹𝗮𝘁𝗶𝗼𝗻 𝗶𝘀 𝗲𝘅𝘁𝗿𝗲𝗺𝗲𝗹𝘆 𝘀𝗲𝗻𝘀𝗶𝘁𝗶𝘃𝗲 𝘁𝗼 𝘃𝗶𝘀𝘂𝗮𝗹 𝗱𝗼𝗺𝗮𝗶𝗻 𝗴𝗮𝗽𝘀. • Real friction vs simulated surface textures • Manufacturing tolerances vs perfect CAD models • Dynamic lighting vs controlled virtual environments • Sensor noise vs instantaneous virtual readings 𝗛𝗲𝗿𝗲'𝘀 𝘄𝗵𝗮𝘁 𝗽𝗲𝗼𝗽𝗹𝗲 𝗱𝗼𝗻'𝘁 𝘁𝗮𝗹𝗸 𝗮𝗯𝗼𝘂𝘁: Building these detailed simulated environments takes forever. If it takes 7 days to build a simulated kitchen in simulation, wouldn't it be better to just collect real-world data in a real kitchen instead? 𝗗𝗼𝗻'𝘁 𝗴𝗲𝘁 𝗺𝗲 𝘄𝗿𝗼𝗻𝗴 - simulation is incredible for debugging, safety testing, and exploring edge cases. But it's not a magic solution to real-world deployment. 𝗪𝗵𝗮𝘁 𝗮𝗰𝘁𝘂𝗮𝗹𝗹𝘆 𝘄𝗼𝗿𝗸𝘀: Use simulation strategically while making real-world data collection as efficient and flexible as possible. This is why Neuracore focuses on streamlined real-world data infrastructure. Because no amount of virtual training can replace understanding how your robot actually behaves in actual environments. 𝗧𝗵𝗲 𝗽𝗵𝘆𝘀𝗶𝗰𝘀 𝗼𝗳 𝘆𝗼𝘂𝗿 𝗱𝗲𝗽𝗹𝗼𝘆𝗺𝗲𝗻𝘁 𝗲𝗻𝘃𝗶𝗿𝗼𝗻𝗺𝗲𝗻𝘁 𝗰𝗮𝗻'𝘁 𝗯𝗲 𝘀𝗶𝗺𝘂𝗹𝗮𝘁𝗲𝗱 𝗮𝘄𝗮𝘆. What’s been your experience with sim-to-real transfer?show more