zecice

msc ds @eth

[zecice @zecicc]

@anej_zaler peaking at 22:00🫪

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@abhicooked nice!

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@OliverWTaylor

[zecice @zecicc]

a bit more about how it works:
- PPO in MuJoCo, no real-world data
- 0-4 frames of random latency, soft servos, noisy ball state
- on the arm: wrist cam -> colour blob -> MLP position -> finite-diff velocity -> policy -> joint deltas

code: https://t.co/30o8m26wOe

[zecice @zecicc]

turns out the sim2real gap is only as real as you want it to be

[Domen Lisjak @dlisjak_]

vibecadding because I can't get my hands on @pollenrobotics' microduck

[zecice @zecicc]

@dominiconorton thanks! the biggest challenge was getting the sim right. randomisation across latency and servo stiffness + noisy ball observations were the key here. i only used open source models (robot arm, paddle, ball)

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@vishwaakchandra used an open source model

[zecice @zecicc]

turns out the sim2real gap is only as real as you want it to be

[zecice @zecicc]

@paolodiprodi just the wrist cam

[zecice @zecicc]

@jloganolson not yet. i used the open-source mujoco model an did some servo stiffness and latency randomisation. that was good enough for it to work (quite) reliably. it is true that it’s not the most complex problem tho

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@SAldwais will share over the weekend

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@JDRanpariya i think the much bigger problem here is the limited field of view from just the wrist cam

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@adarshbaburj not yet, will post more over the weekend. play around with rl in sim🫡

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@mrtonyy_ just the wrist cam :)

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@reticente07 @gclue_akira get back to it🫡

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@praneethsamine thanks legend!

[zecice @zecicc]

@chetan_ thanks! i did barely any classic sysid. i used the open-source so-101 arm mujoco model and randomised servo stiffness and latency per episode + trained on noisy ball estimates instead of ground truth. the hardest transfer isssues were perception and a level paddle.

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@bercankilic it is only torture as long as the clanker sucks

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@RoboRookie thanks🫡

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@RoboRookie

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@ileri005 would recommend🦾