Tagged: sim2real

Every guide, note, and policy on YouDuck tagged「sim2real」.

• Backlash, and which side the encoder sits on

  Gear play. Microduck models ±1° per servo, and the point is that the encoder reads through it.

• The BAM actuator model

  Rhoban's servo physics model. Treating a servo as an ideal torque source is the most common root cause of sim2real failure.

• Domain randomisation

  Randomising physics during training so the policy holds across the real distribution. Not the same as adding observation noise.

• What sim2real is, and why it is the hard step

  Moving a policy from simulation onto hardware. A policy that walks well in simulation and falls over on the robot is the normal outcome.

• The sim2real recipe

  The four things Microduck relies on to get from simulation onto hardware: BAM actuator physics, domain randomisation, backlash modelling, one shared observation contract.

• BAM — the servo actuator model

  Rhoban's actuator identification framework. Microduck uses its M6 model for the Dynamixel XL330.

• microduck_rl — the training environments

  Where every Microduck policy is trained: MuJoCo Warp with PPO, plus domain randomisation, the BAM actuator model and backlash simulation.