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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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29,728 views • 1 month ago •via X (Twitter)

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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.

David Bar

48,347 views • 3 months ago

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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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 👇

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Ilia

26,436 views • 16 days ago

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 design

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 design

Matthieu LC

45,587 views • 1 year ago

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.

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Strike Robot

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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.

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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 running

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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...

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Chinese consumer electronics maker Honor will unveil its first humanoid robot on March 1 at MWC 2026 in Barcelona. The robot is designed for retail & home service. The company sold a whopping 71 million smartphones in 2025. Looks like a customized Unitree G1 with a 2DoF neck.

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Success! 🍎🤖 I can now control Unitree robots on a Mac Mini M4 running macOS with a simple tweak! The unitree_sdk2_python ( thread implementation isn’t essential—getting the DDS subscriber and publisher to work is enough. I replaced Unitree’s Linux thread logic with a simple Python while loop for sensor reading and robot control. Here’s a video of me controlling a Go2 robot on macOS (M4 Mac Mini) using a Python script for low-level control and sensor reading.

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I've a new lease of life since being divorced, I feel like I'm glowing ✨️ I'm looking for a FB 🍆 now the dust has settled 😍 can you guess my age guys ?

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I've a new lease of life since being divorced, I feel like I'm glowing ✨️ I'm looking for a FB 🍆 now the dust has settled 😍 can you guess my age guys ?

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the so101 + leslider frame i've been playing with the past few weeks wasn't just a random rig i built for fun it's what we at LiveKit built to benchmark and debug our infra (s/o livekit-portal), and today we're open-sourcing it so everyone can reproduce and share coolio results at home here is the github: i know this isn’t the first frame designed for evals, but it’s ours, and it’s open, and it’s with a LeSlider! along with this, we’ve released simulations files (URDF, MJCF, and USD), as well as a sample RL env in MJLab for pick-and-place tasks we want people to have fun, being close to the frontier as much as possible, and we want people to know it shouldn’t take thousands of dollars in equipment to reproduce some of the most amazing results the academic world has to offer personally, I’m going to deploy sim2real and real2sim2real pipelines on this soon, for fun, so look out for that.

the so101 + leslider frame i've been playing with the past few weeks wasn't just a random rig i built for fun it's what we at LiveKit built to benchmark and debug our infra (s/o livekit-portal), and today we're open-sourcing it so everyone can reproduce and share coolio results at home here is the github: i know this isn’t the first frame designed for evals, but it’s ours, and it’s open, and it’s with a LeSlider! along with this, we’ve released simulations files (URDF, MJCF, and USD), as well as a sample RL env in MJLab for pick-and-place tasks we want people to have fun, being close to the frontier as much as possible, and we want people to know it shouldn’t take thousands of dollars in equipment to reproduce some of the most amazing results the academic world has to offer personally, I’m going to deploy sim2real and real2sim2real pipelines on this soon, for fun, so look out for that.

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