Neural Robot Dynamics

Double Pendulum with Various Grounds

A single NeRD model for double pendulum genearlizes across various contact configurations

(blue rollouts are simulated by ground-truth simulator, orange rollouts are simulated by NeRD)

Policy Learning and Evaluation

Robot policies can be learned exclusively in the NeRD-integrated neural simulator.

The executions of those learned policies exhibit high matching between the NeRD-integrated simulator and the ground-truth analytical simulator.

(Each robot instance shares a single NeRD model)

Franka Reach Policy in Real

The Franka reach policy learned in the NeRD-integrated neural simulator can be zero-shot deployed in real

Fine-tuning from Real Data

The NeRD models pre-trained from simulators can be fine-tuned from real data to capture real-world dynamics.