Soft gains expose sim engine gaps: 16-28mm deviation vs under 1mm in Genesis, robotisist weighs in
chris_j_paxton · x · 2026-10-06
Mandarobotics' benchmark: pushing blocks through a narrow channel, a stiff controller kept hand deviation within 6mm across four sim engines, but with softer gains three engines deviated 16-28mm at peak while Genesis stayed under 1mm — stiff controllers hide engine differences, soft ones expose them. Robotisist Chris Paxton adds this makes a good proxy for contact-rich vs pick-and-place tasks, since many simple pick-and-place tasks succeed with a very stiff controller and no real world interaction, making them poor evals.
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