kzakka

6 ms·

1.
MuJoco Playground(playground.mujoco.org)
78 points by kzakka 2y ago|6 comments
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by kzakka 2y ago
An open-source library for GPU-accelerated robot learning and sim-to-real transfer.
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by kzakka 4y ago
We have the sustain pedal implemented in the standalone MuJoCo simulation, e.g. see https://www.youtube.com/watch?v=VBFn_Gg0yD8 . I just couldn't figure out how to do it with Tone.js :(
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by kzakka 4y ago
Indeed, browsers are pretty aggressive about not autoplaying sound, you need to interact with the screen (mouse click or finger tap + make sure your sound is up / ringer not on silent).
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by kzakka 4y ago
Yup, we're not trying to mimic human movements exactly but rather optimizing for the reward given the robot hardware. Fun fact, we do things like add an energy penalty to try and reduce jitteriness / un-human like movements and it
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by kzakka 4y ago
Thanks! We did indeed explore these additional degrees of freedom, you can find vestigial code for this here: https://github.com/google-research/robopianist/blob/main/rob... We ended up picking a minimal
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by kzakka 4y ago
The fingering we use is taken directly from: https://beam.kisarazu.ac.jp/~saito/research/PianoFingeringDa... From their whitepaper: "Fingerings in the dataset were provided by experienced pianists who graduat
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by kzakka 4y ago
We're using the MuJoCo simulator under the hood: https://mujoco.org/ The keys are actually implemented using a spring mechanism, but springs in MuJoCo are currently linear, which isn't the case in the real world.
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by kzakka 4y ago
Hi, one of the authors here :) The demo you are watching is an agent trained from scratch with reinforcement learning. It has roughly 6 days of experience (10M steps at 20 Hz). The Javascript demo is replaying the policy open loop which is
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by kzakka 4y ago
Hi author here! The app should work on mobile/desktop and was tested on both Safari and Chrome. I've heard it's buggy for some people (unclear if it's an older hardware problem) but you can try this embedded demo which w
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Show HN: RoboPianist, a piano playing robot simulation in the browser(kevinzakka.github.io)
260 points by kzakka 4y ago|57 comments
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MuJoCo Menagerie: High quality simulation models for MuJoCo(github.com)
1 points by kzakka 4y ago|0 comments
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Jigzilla: The automatic puzzle solving machine(youtube.com)
4 points by kzakka 4y ago|0 comments
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Clip: Death of the Class Map(blog.kzakka.com)
4 points by kzakka 5y ago|0 comments
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by kzakka 7y ago
Hey guys, author here. Thought I'd share this post on a classic algorithm called Neighbourhood Components Analysis. I almost never see it mentioned so this post is an attempt to rectify it. It's accompanied by a PyTorch implementa
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KNN Classification Using Neighbourhood Components Analysis(kevinzakka.github.io)
4 points by kzakka 7y ago|1 comments