Dev: contact friction is hard for neural dynamics models, even MuJoCo struggles
aks1812 · x · 2026-10-22
In a reply thread with @ChongZzZhang, the author notes that getting contact friction right is very tough with a purely neural-network dynamics model, and even MuJoCo doesn't handle it well. The counterpart also speculates the friction drag bar issue may stem from 0% being coded as 0.5.