Zima · 2025-11-20 · 1 hours
Goal: Fix model inference jitter bug
What I did:
- debugged model inference, removing inference jitter
- turned out to be teleop_controller sending competing motor commands at control rate
What worked:
- {add photo of zima irl}
- movement jitter gone, only remaining jitter is from model inference now
What failed:
- policy task completion rates are noticeably lower in real life than simulation still
Key learning:
- async control has extra difficulties
Next session:
- Collect more irl data
- Add more sim data augmentation
Time spent: 1 hours