01 · real robot
Trained in simulation, running on hardware: it pushes itself off the floor, stands, takes a few steps, and sits back down.
仿真里训练，跑在真机上：从地面撑起、站立、走几步，再坐下。
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02 · real robot
Turning on the spot, then walking forward: the controllability tuning, on the real robot.
原地转向，然后向前走：可控性调参，在真机上。
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03 · simulation
The stepping policy in simulation, its feet actually leaving the ground. This gait now runs on hardware too.
仿真里的抬脚行走策略：脚真的离地了。这套步态现在也跑在真机上。
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04 · simulation
Get-up policy in simulation: standing from a kneeling pose. On hardware the robot already gets up from the floor by itself.
仿真里的起身策略：从跪姿站起。真机上它已经能自己从地面站起来。
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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. Three behaviours have crossed from simulation to hardware: getting up and sitting down, stepping, and turning while walking forward.
一台小机器人、一条 sim-to-real 流程和一个家庭实验室。三件事已经从仿真走到了真机：起身与坐下、迈步、以及转向和前行。
Updated 2026-10-17 · now: tuning the gait on hardware
