rohan
@rohan565singh
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PhD student at JRL (CNRS-AIST), working on humanoids and reinforcement learning.
Japan
Joined February 2014
Finally, the robot can walk on compliant AND stiff floor. The swing foot lands flat and then adapts to the deformable surface. Also better at maintaining the heading and speed. (vertical video idea thx to @antodld 😐) *reposting after fixing aspect ratio
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@ChenTessler Great work 👏 `loss = torch.nn.functional.binary_cross_entropy_with_logits` let me see if this makes a difference!
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RT @ChenTessler: @rohan565singh This is what I'm using. All my code is open source. Releasing V2 soon with some big…
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@ChenTessler Interesting, and thanks a lot for your info!! IIUC you seem to be using a softmax layer at the end of your discriminator. I've been following the paper and AMP_for_hardware code, so have a linear layer output. As my plots show, D hits the +/-1 labels pretty quickly
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@ChenTessler Thx. I observe similar: discriminator gets really good at discriminating. But doesn't that imply the 'style' reward is nearly zero?
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@ChenTessler @ChenTessler Thanks for sharing your experience. Slightly off topic but could you tell what does your discriminator output look like on policy & expert data towards convergence?
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RT @UnitreeRobotics: Unitree G1 Bionic: Agile Upgrade 🥰 Unitree rolls out frequent updates nearly every month. This time, we present to you…
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RT @zhou_xian_: We’re excited to share some updates on Genesis since its release: 1. We made a detailed report on benchmarking Genesis's s…
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Humanoid when
Unitree B2-W Talent Awakening! 🥳 One year after mass production kicked off, Unitree’s B2-W Industrial Wheel has been upgraded with more exciting capabilities. Please always use robots safely and friendly. #Unitree #Quadruped #Robotdog #Parkour #EmbodiedAI #IndustrialRobot #InspectionRobot #IntelligentRobot #FoundationModels #LeggedRobot #WheeledLegs
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RT @jiaman01: 🤖 Introducing Human-Object Interaction from Human-Level Instructions! First complete system that generates physically plausib…
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Early testing with Genesis gives me about ~200k frames per second (including optimization part). This is easily ~20x faster than MuJoCo on the CPU, but how does it compare to MJX and IsaacGym? This is on my laptop with a 16GB NVIDIA RTX 5000 Ada GPU!
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