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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!

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kache

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19,309 görüntüleme • 2 ay önce •via X (Twitter)

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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 mjwarp
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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 mjwarp

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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 baseline
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