Cartwheel details 15–20mm cross-body motion tracking via SuperMimic recipe
andrew_n_carr · x · 2026-11-11
Cartwheel shared technical details: given a reference trajectory, its policies drive joints at 50 Hz in physics simulation, tracking dynamic motion to 15–20 mm across different bodies — from subtle weight shifts to a Unitree G1 cartwheel and RP1's 360° backflip.
Two keys: a modified SuperMimic world-model recipe stabilized for long runs and cross-robot transfer, and clean, physically grounded kinematic data — most RL pipelines quietly starve policies on sliding feet and broken contacts. Clean motion data turns policy training from an art project into an engineering loop.
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