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Little MooMoo

@litttlemoomoo

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Love cows 🐮 doggies 🐶 cats 🐱 bear 🐻 ；Mechanical engineer student. Moooooooo 🐮

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Codex Tuned RL
Due to my classes schedule, my learning speed this semester is lower than in summer, so I just wanna try out letting codex tune its RL environment , reward and training parameters to see how far can it get, and also for me as a way to get familiar with the RL process. Absolute astonishing for only 5 hours of tuning from Codex #ai #codex #chatgpt #reinforcementlearning #robot by @litttlemoomoo

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4 days ago

New doggy 🥺🥺🥺🥺 by @litttlemoomoo

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4 days ago

Spent 2 hr clean up the CAD and export the URDF, AI has advanced so much in two months, now it can independently clean up the messy raw urdf file on its own and produce perfect mjcf and xml file in just 10 minutes without human feedback. #moo #ai #artificialintelligence #Reinforcement #learning by @litttlemoomoo

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9 days ago

New cycloidal Gearbox assembly , put nuts on back instead of heat insert to prevent heat insert pulled out failure like before. #moo #engineering #robot #student by @litttlemoomoo

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11 days ago

All motors flashed successfully with mit mode compatible firmware! And get some quick introductory on reinforcement learning, I am going to train my robot myself.😋 #moo #engineering #robot by @litttlemoomoo

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13 days ago

Impedance control on BHL recoil firmware! Big upgrade!
I added the feed forward velocity and torque into the PID, AI changes the CAN bus message path and compressed messages so we can send more data in one CAN frame. Then I wrote the MIT mode motor test script, and AI wrote the live data plotting. I tried 0.05 torque feed forward just to be safe. #Engineering #mechanical #electrical #control #robotics by @litttlemoomoo

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a month ago

💀💀💀💀💀💀💀💀💀💀💀💀💀💀💀💀💀💀🤡🤡🤡🤡🤡🤡🤡🤡🤡🤡🤡🤡🤡🤡🤡🤡🤡🤡🐮🐮🐮🐮🐮🐮🐮🐮🐮🐮🐮🐮🐮🐮🐮🐮🐮🐮😤😤😤😤😤😤😤😤😤😤😤😤😤😤😤😤😤😤🦿🦿🦿🦿🦿🦿🦿🦿🦿🦿🦿🦿🦿🦿🦿🦿🦿🦿 by @litttlemoomoo

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a month ago

Module too small so changed to bigger ones right after. Also new dog leg printed by @litttlemoomoo

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a month ago

new dog, new actuator, same task , mooovengers, assemble !!!! by @litttlemoomoo

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2 months ago

Left to right : very good motion as compared to before; front walking is still struggling. I think I need to sit down working on the dynamic a bit; the robot is so long, so any com shifting will cause a large contact force imbalance front to back. Plus joint backlash, it is pretty hard to control it like theoretically.
#moo #robot #ai #mechanical #electric by @litttlemoomoo

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2 months ago

5th polynomial trajectory optimization: a trade off between continuity and control latency.#control #robot #math by @litttlemoomoo

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2 months ago

Kalman filter derivation by @litttlemoomoo

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2 months ago