Provided feedback on motion mapping concerns in Mujoco, particularly highlighting dependencies on historical sensor data for calculations like swing foot
Emphasized need for quality assurance metrics between AbstractSim V1 and V2 policies
Discussed trade-offs between flexibility and configurability in simulator architecture
Facilitated discussion about future meeting schedules
ZiSen
Found updates in rule book regarding new robot gestures
Planning collaboration with Erika on gesture-related work
Proposed using Unreal Engine for gesture recognition data collection, citing support from relevant papers in Peter’s repository
Will continue engineering work on Nao gesture implementation
Adam
Attempted walk engine binary compilation and export
Taking alternative approach by collecting simulated joint data from Nao’s forward walking
Working on replicating walk patterns in Mujoco
Plans to collect and utilize game data for further development
Zhihan
Collaborating with Edison and Abhinav on AbstractSim V2 integration
Training policies on Abhinav’s branch while learning codebase structure
Identified cross-platform compatibility challenges between MacOS and Ubuntu
Working on documentation needs for different platforms
Edison
Leading policy transfer efforts from AbstractSim V2 to SimRobot
Identified key technical issues:
Value normalization discrepancy between simulators (AbstractSim not clipped to [-1,1])
Unusual curved paths observed in both simulators
Considering replay buffer implementation to address policy behavior
Expressed appreciation for Abhinav’s configurable design approach
Abhinav
Spearheading configurable AbstractSim V2 development
Collaborating with Edison on SimRobot transfer implementation
Working toward completing unified V2 version within the week
Focus on creating consolidated codebase for training and simulator transfer
Dmitry
Present but experienced technical difficulties with audio
Action Items
Develop cross-platform documentation for AbstractSim V2
Complete unified version of AbstractSim V2
Advance gesture recognition implementation
Establish quality metrics for comparing V1 and V2 policies
Next Steps
Team confirmed next week’s meeting
Noted scheduling considerations for Wisconsin’s finals week