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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

1,502 subscribers

66,082 просмотров • 1 год назад •via X (Twitter)

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Комментарии: 11

Фото профиля Antoine Pirrone
Antoine Pirrone1 год назад

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

Фото профиля Loki Le Dev
Loki Le Dev1 год назад

@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.

Фото профиля Antoine Pirrone
Antoine Pirrone1 год назад

@Thom_Wolf @duburcqa The urdf is here : :)

Фото профиля avi brown
avi brown1 год назад

@Thom_Wolf instafollow

Фото профиля Appy Pie
Appy Pie1 год назад

@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!

Фото профиля Mark
Mark1 год назад

@Thom_Wolf Cool 😎

Фото профиля Vai Viswanathan
Vai Viswanathan1 год назад

@Thom_Wolf this duck is too cute

Фото профиля 𝔭𝔬𝔢𝔩𝔩𝔩𝔩
𝔭𝔬𝔢𝔩𝔩𝔩𝔩1 год назад

@Thom_Wolf Love this!

Фото профиля Happy
Happy1 год назад

@Thom_Wolf amazing bot

Фото профиля Hang Liu
Hang Liu1 год назад

@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.

Фото профиля Antoine Pirrone
Antoine Pirrone1 год назад

@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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