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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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kache

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29,728 просмотров • 1 месяц назад •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.
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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.

David Bar

48,347 просмотров • 3 месяцев назад

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!
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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

36,148 просмотров • 3 дней назад

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
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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 просмотров • 1 год назад

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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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.

Strike Robot

14,792 просмотров • 24 дней назад

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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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.

Arthur Juliani

45,743 просмотров • 1 год назад

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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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

jordwalke

43,739 просмотров • 5 месяцев назад

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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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...

FLEXjs

81,729 просмотров • 7 месяцев назад

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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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.

The Humanoid Hub

58,290 просмотров • 4 месяцев назад

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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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.

Tairan He

57,603 просмотров • 1 год назад

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.
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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.

Adithya S K

46,556 просмотров • 2 месяцев назад

GPT-5.5 by Reasoning Effort: I've asked it in Codex to create a physics-based visualisation of RL cycles for different sized models (70b, 1t, 10t), to demonstrate how the amount of RL you can do differs by model size. My assessment of each: - Low: weird slop - Medium: kinda cooked - High: sort of tried but ultimately incoherent - Extra High: elite - really nice idea and well executed Obviously this is just one shot, but worth trying different reasoning levels for the new models, medium seems to be pretty good for GPT-5.5 and it was really bad for many previous GPT models.
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GPT-5.5 by Reasoning Effort: I've asked it in Codex to create a physics-based visualisation of RL cycles for different sized models (70b, 1t, 10t), to demonstrate how the amount of RL you can do differs by model size. My assessment of each: - Low: weird slop - Medium: kinda cooked - High: sort of tried but ultimately incoherent - Extra High: elite - really nice idea and well executed Obviously this is just one shot, but worth trying different reasoning levels for the new models, medium seems to be pretty good for GPT-5.5 and it was really bad for many previous GPT models.

Peter Gostev (SF: 22-26 June)

209,258 просмотров • 2 месяцев назад

NVIDIA DROPPED A MOTION DIFFUSION MODEL FOR HUMANOID ROBOTS trained on 700 hours of mocap data kimodo generates high-quality 3D human and robot motions from text prompts you control it with: → full-body pose keyframes → end-effector positions/rotations → 2D paths and waypoints works on human skeletons and unitree G1 robot plug the outputs directly into mujoco or retarget to other robots using GMR has a web-based interactive demo with a timeline editor. runs locally needs ~17GB VRAM to run inference open source under apache 2.0
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NVIDIA DROPPED A MOTION DIFFUSION MODEL FOR HUMANOID ROBOTS trained on 700 hours of mocap data kimodo generates high-quality 3D human and robot motions from text prompts you control it with: → full-body pose keyframes → end-effector positions/rotations → 2D paths and waypoints works on human skeletons and unitree G1 robot plug the outputs directly into mujoco or retarget to other robots using GMR has a web-based interactive demo with a timeline editor. runs locally needs ~17GB VRAM to run inference open source under apache 2.0

Vaishnavi

17,572 просмотров • 2 месяцев назад

Training clips from a couple sessions this week. Looking into a polygamy agreement so I can add the Roger’s squat into my marriage. Just have to get the state & my wife on board. Them damn Mormons may be onto something This is my dose of get the fuck after it for the timeline today. One fact remains: I have to get better 🦍
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Training clips from a couple sessions this week. Looking into a polygamy agreement so I can add the Roger’s squat into my marriage. Just have to get the state & my wife on board. Them damn Mormons may be onto something This is my dose of get the fuck after it for the timeline today. One fact remains: I have to get better 🦍

🦍

58,531 просмотров • 8 месяцев назад

Bringing new meaning to the word NeRD at #CoRL2025. 🤓 Neural Robot Dynamics (NeRD) bridges the sim-to-real gap with a hybrid of neural modeling and analytical simulation, unlocking zero-shot transfer and continuous learning loops for optimal robotics training. Read more & try it in Newton 🤖
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Bringing new meaning to the word NeRD at #CoRL2025. 🤓 Neural Robot Dynamics (NeRD) bridges the sim-to-real gap with a hybrid of neural modeling and analytical simulation, unlocking zero-shot transfer and continuous learning loops for optimal robotics training. Read more & try it in Newton 🤖

NVIDIA Robotics

17,556 просмотров • 9 месяцев назад

No. I started as a noob weightlifting at the age of 50 after my HiiT based gym was forced to close for Covid. My trainer has helped me the entire way. I just hit a 502lbs deadlift at 54yrs old and I have a goal of 552lbs in competition that would beat the record Masters division I'm in. There is no downside for ANY man at ANY age to become physically strong.
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No. I started as a noob weightlifting at the age of 50 after my HiiT based gym was forced to close for Covid. My trainer has helped me the entire way. I just hit a 502lbs deadlift at 54yrs old and I have a goal of 552lbs in competition that would beat the record Masters division I'm in. There is no downside for ANY man at ANY age to become physically strong.

Scott Pysher (Better Health, Better Man)

57,398 просмотров • 9 месяцев назад

⚜️ GUEST REVEAL ⚜️ I've never gotten on so well with a league player in my life, this guy's wicked cool. My fourth guest for Dominion is the ONE AND ONLY DSG scarra 🔥 literally dragging the dusty corpse of his vtuber model out the closet for this
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⚜️ GUEST REVEAL ⚜️ I've never gotten on so well with a league player in my life, this guy's wicked cool. My fourth guest for Dominion is the ONE AND ONLY DSG scarra 🔥 literally dragging the dusty corpse of his vtuber model out the closet for this

Reya Lialdryn ⚜️

38,872 просмотров • 1 год назад

I fear for my life, this is the 4th time these molvis are showing up at my place and this time I wasn't even there, my Chela who recorded the video is in a state of shock, they're threatening us with the bottles of acid in their hands. I'm very much worried for my safety.
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Sensitive content

I fear for my life, this is the 4th time these molvis are showing up at my place and this time I wasn't even there, my Chela who recorded the video is in a state of shock, they're threatening us with the bottles of acid in their hands. I'm very much worried for my safety.

Shahzadi Rai

1,039,036 просмотров • 3 лет назад

I've been mostly sending emails to content creators to play my TD game, but can't help prototyping things on the side, made with C and raylib again i still dont know what this is, probably a survivor-like, i know its the most generic idea there is but i still can’t resist seeing how far i can push it and how fun i can make it
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I've been mostly sending emails to content creators to play my TD game, but can't help prototyping things on the side, made with C and raylib again i still dont know what this is, probably a survivor-like, i know its the most generic idea there is but i still can’t resist seeing how far i can push it and how fun i can make it

Bones

13,097 просмотров • 10 месяцев назад

Here's the thread on my 2025 mileage and costs running (probably) too many old cars. This isn't the total mileage I've driven, just the mileage I've tracked in my own cars. That includes 3 trips into Europe, 7 countries and 11 cars that I've tracked figures for. The headline figures are 27,012 miles tracked, and £15,344.02 in parts costs. I haven't checked the figures for 2024 (though I may), but I'm quite sure it is less mileage.
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Here's the thread on my 2025 mileage and costs running (probably) too many old cars. This isn't the total mileage I've driven, just the mileage I've tracked in my own cars. That includes 3 trips into Europe, 7 countries and 11 cars that I've tracked figures for. The headline figures are 27,012 miles tracked, and £15,344.02 in parts costs. I haven't checked the figures for 2024 (though I may), but I'm quite sure it is less mileage.

LUDEN Automotive

14,294 просмотров • 6 месяцев назад

Bill drill from the other day for #groupsandsplitsmonday - 2.25 seconds on my daily carry Glock 19 with a double through the third hole! I'm not running a race setup but my goal is 2 seconds with this G19 and Safariland ALS holster. What's your best Bill drill time?
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Bill drill from the other day for #groupsandsplitsmonday - 2.25 seconds on my daily carry Glock 19 with a double through the third hole! I'm not running a race setup but my goal is 2 seconds with this G19 and Safariland ALS holster. What's your best Bill drill time?

𝙏𝘼𝘾𝙏𝙄𝘾𝙊𝙊𝙇 𝙂𝙄𝙍𝙇𝙁𝙍𝙄𝙀𝙉𝘿

14,401 просмотров • 3 лет назад