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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

kache

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30,204 次观看 • 5 个月前 •via X (Twitter)

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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!

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!

kache

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

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Chestnut Robotics

10,866 次观看 • 1 年前

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

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

kache

27,466 次观看 • 5 个月前

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.

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.

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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 mujoco

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 mujoco

kache

13,517 次观看 • 2 个月前

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Ilir Aliu

17,686 次观看 • 8 个月前

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!

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!

kache

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Ilia

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12,006 次观看 • 2 年前

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45,587 次观看 • 1 年前

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kache

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fell for a g*rl in the holy month….

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fell for a g*rl in the holy month….

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