Sim-to-real workbench

RL Gym

Explore movement. Test policies. See the physics.

Connecting…

MicroDuck

Real MuJoCo WebAssembly physics. Trained policies, running in your browser.

Loading MuJoCo WASM ONNX · 50 Hz
Starting MuJoCo Compiling physics and loading policies…

Simulation controls

Kick

Click Move for keyboard control · WASD also works · Drag to orbit · Scroll or pinch to zoom

Active runs
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Succeeded
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Registered tasks
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Run history

Local processes and Hugging Face submissions

No runs yetStart with a 64 × 5 smoke test.

New operation

Configure a run

Sim2real guard
The normalizer-baked export path and 61D contract stay intact.

Available environments

Walking, recovery and skill tasks, including model-matched Backlash variants.