simulation

3 items

Writings

Everything Worked. That Was the Problem.

A wrong simulation is most dangerous when it still produces working behavior. Lessons from a year of sim2real on a real balancing system.

Projects

Ball Balancing on Arc

Nonlinear control of a ball balancing on a curved surface mounted on a linear cart — a deceptively simple system with rich dynamics.
Tardigrade: a Palm-sized Quadruped

A full-stack physical AI project — from custom brushless actuators and PCB design to sim2real reinforcement learning — inspired by nature's most indestructible micro-animal.

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