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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

Antoine Pirrone

1,502 subscribers

66,082 views • 1 year ago •via X (Twitter)

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11 Comments

Antoine Pirrone1 year ago

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

Loki Le Dev1 year ago

@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.

Antoine Pirrone1 year ago

@Thom_Wolf @duburcqa The urdf is here : :)

avi brown1 year ago

@Thom_Wolf instafollow

Appy Pie1 year ago

@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!

Mark1 year ago

@Thom_Wolf Cool 😎

Vai Viswanathan1 year ago

@Thom_Wolf this duck is too cute

𝔭𝔬𝔢𝔩𝔩𝔩𝔩1 year ago

@Thom_Wolf Love this!

Happy1 year ago

@Thom_Wolf amazing bot

Hang Liu1 year ago

@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.

Antoine Pirrone1 year ago

@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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