Patrick Yin

One million parallel environments are insufficient without intelligent sampling: Success Guided Sampling unlocks mega-scale RL for robots by focusing training on the edge of learned capabilities.

This work presents RebarSim, a visual sim-to-real system trained entirely in simulation, a privileged state-based teacher is trained with reinforcement learning over procedurally generated rebar geometries, then distilled into a multi-view student that maps raw RGB and proprioception directly to actions under extensive domain randomization.