CONTROLLIVE: V3 STAND (FALLS) · V4 REPLAY: STAYS UP, SKATES
What is real? Real: official MuJoCo engine at 500Hz (2 ms), the exact h2_stand_model.xml the v3 policy trained on, driving a cosmetic display skin mapped onto the real training bodies - the skin is display-only, physics is the training MJCF - with its 29 training-gain servos. The ONNX policy runs in-browser on the training observation contract, output scaled 0.3 and clipped to servo ranges.
Honest limits: v3 (live above): best checkpoint of a failed run - ~1.5 s up, then a fall; fails the float64 oracle 8/8. v4 (60.8M steps, replay below right): stays up under 0.6 m/s shoves in float64 - 0/8 falls - but foot-slides; not yet browser-exported. v5 training: slip/drift/twitch penalties + a hard stage-1 gate. The robot starts at the far baseline facing the machine. Robot skin, racket, and the ball machine's ball flight are a display layer; ball-interaction physics stays parked.
REAL MODEL. REAL PHYSICS.
REAL MODEL. REAL PHYSICS.
The live robot above is still the v3 stand policy (best eval) - the newest browser-runnable export: it stands ~1.5s, falls, resets, and fails the float64 oracle 8/8. The newest checkpoint, v4 (60.8M steps), no longer falls - 0/8 under 0.6 m/s shoves in float64 physics - but its feet visibly slide. Watch the v4 replay on the right. v5 is in training now with slip/drift/twitch penalties and a hard stage-1 gate. Drag to orbit.
ATH - Association of Tennis Humanoids Building toward physics-first humanoid tennis: pro footwork, spin-aware ball flight, drills, serves, and match play.
TRAINING PROGRESS · STAND v4 (NEWEST) Stand v4 - 60.8M steps: stays up under 0.6 m/s shoves in float64 physics (0/8 falls), but the feet slide. v5 in training to fix it.
LIVE SIM - v3 stand policy: stands ~1.5 s, falls, fails the float64 oracle 8/8. v4 stays up under shoves but the feet slide (replay on desktop). v5 in training. The robot starts at the baseline; the skin, racket, and the ball machine's ball flight are a display layer over the real training physics (ball-interaction physics stays parked).