Yacine explains his recipe: randomize actuator parameters to train one general policy
yacineMTB · x · 2026-09-04
Expanding on his earlier point, YacineMTB explains that you can train a general policy that fits over many different actuators ('well, maybe I can'). If you model enough of them accurately, the policy would generalize — but instead of modeling them all, he randomizes the parameters from which their behavior is sampled.
This is his practical shortcut for sim2real transfer, tying back to his claim that the real bottleneck is how fast people can write the software.
Related event: Yacine: Skip Precise Actuator Modeling, Randomize and Train One Policy(2 posts)→
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