My two cents, I actually worked with getting MuJoCo's physics gradients to train quadruped locomotion policies. Really interesting field. https://github.com/sa

My two cents, I actually worked with getting MuJoCo's physics gradients to train quadruped locomotion policies. Really interesting field. https://github.com/saucesaft/differential_policies/ https://github.com/saucesaft/differential_policies/