sim2real-transfer

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Qi-hub-dot / microduck-locomotion-diagnosis

Reproduced, diagnosed and fixed a locomotion training failure in an open-source bipedal robot (microduck_rl issue #46). Found a reward gate that pays for stepping in place, and showed the project's error metric overestimates tracking error about 3x.

reinforcement-learning robotics locomotion mujoco ppo sim2real bipedal-robot sim2real-transfer

Updated Sep 18, 2026
Python

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