just cooked up a new sprinter policy, do we attempt sim2real?

Yes, attempt sim2real. Let's see how it works.

you're gonna want to put it in a less flat world

Idk maybe. Imma prob just send it and see what happens

That is some crazy dorsiflexion prior to heel strike Policy likely wants to elongate the lower limb by taking advantage of the unnatural mid-foot ankle joint of the G1, thus the heel drops down making early contact That foot flattens quickly, so a burst of backdriving

so what you're saying is: send it right?

Curious if the policy thinks it will recover a reasonable amount of energy in the heel strike Works well in short-term perhaps, but long-term I wonder about wear and fatigue on the Heim joints and reducers Send it, cuz we only learn by experimenting

what is the braking distance?

In the sim, it's like a couple meters, it seems to stop really well since it's trained to change direction too. I have no clue the reality though. I am skeptical of both the takeoff and stop capability transferring, but I've seen G1s do highly agile stuff irl so it's possible.

Good stuff, just trying to get a feel for what I am dealing with when this thing is sprinting at me

🔥

Bruh

the real question is : when do we attempt sim2real?

I need to confirm a solid pipeline that minimizes variables. Will be testing asap tho. I think it probably wont work but would be so epic if it does

The robot:

This is pretty cool

As long as it points itself at the nearest person

Would be super cool if we could add this policy to this demo 👀

Go big or go home?

or go broken

Tbf I have no horse in this race. Though I am rooting for you to succeed since I also want to do this. 😅

yes, but piggyback on him pls 😂

I want to see it

@kevin_zakka Treadmill + gantry?

@kevin_zakka Still struggling to move this policy even at a slower pace to real. My plan for running tho was to rig up to pallet forks on tractor as gantry

@kevin_zakka wow, you have a tractor. and a beautiful farm house! that looks heavenly

curious if the bot can handle that without overheating

Depends how long. Will do it on a cool day for sure.

I see a completely new insurance business opportunity here

Yes

maybe sim2sim first?

some might argue irl is a sim I'll probably just push it live. The G1 will be suspended safely-ish. I have a concept of a plan for this.

do jumping next and see if he can touch the rim

can he brake smoothly?

@fariasx___ In the sim he can. No clue how itll play out irl

nicee congrats for the work

Send it

Specifics on the envcfg, plz?

I built it off local hero @kevin_zakka's mjlab flat env config: I started off with his base velocity, trained 4050 iters of 4096 envs. Then started bumping velocity targets with a curriculum and reduced the soft foot penalty as we sped up.

@AtharvaPatwe @kevin_zakka Nice trick! Does it eventually fall or does it keep running? And does it stumble when you reduce the command vel or give some yaw changes?

@AtharvaPatwe @kevin_zakka It just keeps going indefinitely (in the sim). I just cut to keep video reasonable. Only times ive seen it fall were for higher speed attempts like 7 m/s. I suspect it will fail sim2real but im gonna try. Need to figure some stuff first tho

Fkn do it

He's a runner he's a track star

Did you every try mimickit from Jason peng?

Nope i have not

Do it, do it, do it

That’s the ultimate test. Sim2real is where elegant theory meets brutal reality — if it works there, it works anywhere.

YESS

It’s heel striking. You probably want a mid-foot or topnof the foot landing. Heel strike will wear down your actuators faster.

flat ground only?

Pls do one while it’s wearing these

lean forward more?

YES

I really want to experiment with RL with such simulation. What do you use to make these simulation videos? Unity??