Re: What sim fidelity actually matters for successful transfer - contact dynamics or visuals?
Posted: Thu Aug 06, 2026 9:03 pm
I can speak to this a bit.
Model predictive control (MPC) is still very much alive in production humanoids, often working alongside or underneath learned policies - MPC handles short-horizon dynamically-consistent trajectory optimization while learned components handle perception, task-level decisions, or recovery behaviors that are hard to hand-model.