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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

1,501 subscribers

66,084 次观看 • 1 年前 •via X (Twitter)

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11 条评论

Antoine Pirrone 的头像

Antoine Pirrone1 年前

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

Loki Le Dev 的头像

Loki Le Dev1 年前

@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 Pirrone 的头像

Antoine Pirrone1 年前

@Thom_Wolf @duburcqa The urdf is here : :)

avi brown 的头像

avi brown1 年前

@Thom_Wolf instafollow

Appy Pie 的头像

Appy Pie1 年前

@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!

Mark 的头像

Mark1 年前

@Thom_Wolf Cool 😎

Vai Viswanathan 的头像

Vai Viswanathan1 年前

@Thom_Wolf this duck is too cute

𝔭𝔬𝔢𝔩𝔩𝔩𝔩 的头像

𝔭𝔬𝔢𝔩𝔩𝔩𝔩1 年前

@Thom_Wolf Love this!

Happy 的头像

Happy1 年前

@Thom_Wolf amazing bot

Hang Liu 的头像

Hang Liu1 年前

@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 Pirrone 的头像

Antoine Pirrone1 年前

@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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