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Trained in dingsim. And blue is the same policy but piloting a robot using HF's shipped mujoco simulator. Sim2sim transfer, trained in my Sota rigid body simulator. Trained in under 2 minutes on one 4090 Kneel

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Guess whose state of the art rigid body simulator that can support up to 200k rigidbodies is accurate enough for the microduck to walk in Not a single bit of this is run with mujoco. This is entirely my rigid body simulator (based on box3d) and runs entirely on cuda

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