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System ID for legged robots is hard: (1) Discontinuous dynamics and (2) many parameters to identify and hard to "excite" them. SPI-Active is a general tool for legged robot system ID. Key ideas: (1) massively parallel sampling-based optimization, (2) structured parameter space, and (3) active exploration based on Fisher... show more

Guanya Shi

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21,442 views • 1 year ago •via X (Twitter)

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A student just trained this within a day, no tedious tuning, no sim2real tricks, not even with sys-id. Worked in the first trial on the real robot. This explains the many recent impressive demos on G1 robot -- just the hardware. Still sim2real gaps on ankle and waist dofs tho.

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1. "Life is a beauty, when it's bountiful by your side, Yes, when your sincerity for it, is full and wide." 2. "Life is a choice between being passive in its face and being active for its sake." - Zafar Mirzo Zafar Mirzo

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