Projects: from simulation to real robot deployment

Choose a task and work through environment setup, training, control, and evaluation with a project, demo, or reproduction study. Follow a sequence of chapters to build a complete system, or choose a standalone experiment to test a method. For questions about principles, look up the related module in foundations. For original papers, data, and code, see the introduction's resources.

Where to start

• To build a system from scratch: start with the quadruped project. Its eight chapters cover actuators, kinematics, modeling, gaits, and policy training. Basic Python is required; you can study control and linear algebra alongside the experiments.
• To learn about arm datasets and hardware operation: read the LeRobot course notes in Chinese, then move on to the SO-101 hardware tutorial. The notes cover Units 0–2 and require basic Python; the hardware tutorial requires a compatible robot.
• To try a simulation first: choose MicroDuck RL or ACT bimanual manipulation, and set up the required environment.
• To explore wheeled-biped balance control: read the Flamingo project preview for prerequisites and planned experiments.

Before starting, check the environment and goals. Keep your code, parameters, and results as you work, then use evaluation and failure cases to check your understanding. The project chapters are currently in Chinese; the status labels below describe the available source content.

Directions

Direction	Projects	Suitable for
Robot arms	5	VLA, data collection, and imitation learning
Quadrupeds	4	Reinforcement learning, control, and sim-to-real
Bipeds and humanoids	1 available, 2 planned	Advanced control, reinforcement learning, and task planning
Mobile manipulation	3	Combining navigation and manipulation
Wheeled bipeds	Preview	Underactuated balance, Isaac Lab, and cross-simulator validation

Available projects

• MicroDuck RL: walking, standing up, and rolling: start with MJCF, BAM actuators, and mjlab task registration; train 18 motion modes in MuJoCo Warp and inspect offscreen evaluation through GIF and MP4 recordings.

AMD projects

• AUP Learning Cloud: use Ryzen AI APUs, JupyterHub, Code Server, and ROCm in your browser for exercises, edge inference, and small experiments.
• MicroDuck RL · AMD ROCm: build ROCm Warp and MuJoCo Warp on a Radeon R9700, fix dynamic broadphase caching, and train biped PPO policies.
• ACT bimanual training · AMD ROCm: train ACT in BF16 on Radeon GPUs, resume checkpoints, evaluate 20 episodes, and export videos.
• Explore the Pupper quadruped: the AMD flagship project, with Pupper Locomotion for RL motion policies and Pupper VLA for vision-language-action intelligence.

Simulation projects

Project	Technical path	Status
Build a quadruped from scratch	MuJoCo, PD control, kinematics, gaits, policy training, and perception	Overview and 8 chapters available
MicroDuck RL: walking, standing up, and rolling	mjlab, MuJoCo Warp, parallel PPO on CUDA, and 18 motion modes	Available
Getting started with MuJoCo	MJCF, physics simulation, and Python control	Available
DDPG InvertedPendulum	Continuous-control basics and a DDPG baseline	Available
DDPG Reacher	Target tracking with a planar robot arm	Available
DDPG Pusher	Contact manipulation and reward design	Available
ACT bimanual training	ALOHA, imitation learning, ACT, and evaluation over multiple episodes	Available
π₀.₅ + RECAP: LIBERO reproduction	Value models, advantage annotation, ACP, and LIBERO evaluation	Available
Sim2Sim validation	Cross-simulator policy validation	In development
Flamingo wheeled biped · Isaac Lab	Balance, reinforcement learning, and cross-simulator validation	Course preview

Real robot projects

The LeRobot notes introduce data and toolchains; the SO-101 project then applies that knowledge to a real robot arm.

Project	Technical path	Status
LeRobot course notes in Chinese	Robot learning, datasets, toolchains, and classical robotics	Units 0–2 compiled
SO-101 + LeRobot hardware tutorial	Hardware connectivity, safety tests, and action playback	Available
ROS2 arm control	ROS2 control and arm execution	In development
Sim2Real guide	Deploying simulation policies and validating on hardware	In development