01 · real robot
First successful sim2real: a policy trained in simulation, running on the real robot. Shuffling gait.
第一次 sim2real 成功：仿真里训练的策略，跑在真实机器人上。拖步步态。
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02 · real robot
Another sim2real success on the shuffling gait.
拖步步态的第二次 sim2real 成功。
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03 · simulation
A stepping checkpoint that actually lifts its feet. Not on the real robot yet. This is what I'm working on now.
会抬脚的行走 checkpoint。还没做 sim2real，正在做。
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04 · simulation
Get-up policy: the robot should stand from a kneeling pose by itself. Sim2real also in progress.
起身策略：机器人要能从跪姿自己站起来。sim2real 同样在进行中。
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05 · infrastructure
Home training server on an open frame. Three GPUs.
自建训练服务器，开放式机架，三张 GPU。
06 · infrastructure
The 3D printer that makes the robot's structural parts.
机器人的结构件都出自这台 3D 打印机。
A small robot, a sim-to-real pipeline, and a home lab. Two gaits have crossed from simulation to hardware; stepping and getting up are next.
一台小机器人、一条 sim-to-real 流程和一个家庭实验室。两个步态已经从仿真走到了真机；抬脚行走和起身是下一步。
Updated 2026-09-19 · now: sim2real for stepping and get-up