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Open Duck Mini is standing up using a policy learned with RL in simulation! We are still pushing locomotion, so if you have some knowledge of Isaac Gym and want to help feel free to join us! Thomas Wolf

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Antoine Pirrone

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66,051 Aufrufe • vor 1 Jahr •via X (Twitter)

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Profilbild von Antoine Pirrone
Antoine Pirronevor 1 Jahr

Actual link to join the LeRobot server : Look for the bdx-duck-robot-discussions channel :)

Profilbild von Loki Le Dev
Loki Le Devvor 1 Jahr

@Thom_Wolf Omg I've been wanting to make one for a while! I'm in vacation right now I'll come help when I'm back! Meanwhile if you have a proper urdf maybe @duburcqa could play with it in his simulator Looking forward to test on Isaac gym also.

Profilbild von Antoine Pirrone
Antoine Pirronevor 1 Jahr

@Thom_Wolf @duburcqa The urdf is here : :)

Profilbild von avi brown
avi brownvor 1 Jahr

@Thom_Wolf instafollow

Profilbild von Appy Pie
Appy Pievor 1 Jahr

@Thom_Wolf Impressive work with Open Duck Mini and RL in simulation! 🚀 If anyone has experience with Isaac Gym and wants to contribute, this is a great opportunity. Excited to see how this advances locomotion capabilities!

Profilbild von Mark
Markvor 1 Jahr

@Thom_Wolf Cool 😎

Profilbild von Vai Viswanathan
Vai Viswanathanvor 1 Jahr

@Thom_Wolf this duck is too cute

Profilbild von 𝔭𝔬𝔢𝔩𝔩𝔩𝔩
𝔭𝔬𝔢𝔩𝔩𝔩𝔩vor 1 Jahr

@Thom_Wolf Love this!

Profilbild von Happy
Happyvor 1 Jahr

@Thom_Wolf amazing bot

Profilbild von Hang Liu
Hang Liuvor 1 Jahr

@Thom_Wolf Amazing！How do you overcome the sim2real gap when using digital servo? I guess digital servo only has position control but Isaac gym using torques to step simulation.

Profilbild von Antoine Pirrone
Antoine Pirronevor 1 Jahr

@Thom_Wolf That's a difficulty indeed. We model a simple PD controller in Isaac gym try to get the stiffness and damping values right, and add randomization during the training. Next step is to do a proper identification of the servos

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We are moving from model controller to RL for locomotion. The policy is starting to look quite robust. Even more convinced now that legs are easier than wheels, given the software complexity has shrunk tremendously with RL.
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