Sim2Real Data Engine — Multi-Model 3D Evaluation & Benchmark Interactive 3D WebGL Physics-Accurate

Closed-loop behavioral cloning rollouts vs. privileged IK expert across local Apple Silicon (MPS) and cloud AWS EC2 A10G (CUDA) • Synchronized kinematics, weld gripper constraints & telemetry.

GitHub Repository ↗ Technical Article ↗ Experiment Report ↗

Modelo Activo:

⚡ Client-Side Static Store • Zero Backend

Mean Spatial Tracking Error

6.6 mm

Closed-loop policy vs. privileged IK expert

Max Spatial Error

12.6 mm

Peak transient deviation during grasp transition

Cross-Table Payload Transport

14.3 cm

Peak lift Z: 18.5 cm • 100% Grasp & Place Exitoso

Policy EE Net Displacement

260.5 mm

End-effector spatial span across workstation

Inference & Compute Throughput

~0.10 ms MLP

11,940 samples/s • Apple Silicon MPS (Metal)

Step 0 / 120

3D Kinematics Workspace

Policy Arm Policy Trail Privileged Expert Payload Cube

Real-Time Telemetry HUD

Manipulation Phase: 1. Pre-Grasp Approach

Gripper Constraint: OPEN

Control Step / Elapsed: 0 / 120 (0.00 s)

Instant Tracking Error: 0.0 mm

Policy EE [x, y, z]: [0.000, 0.000, 0.000] m

Expert EE [x, y, z]: [0.000, 0.000, 0.000] m

Payload Cube [x, y, z]: [0.000, 0.000, 0.000] m

Physics Engine: mujoco_native (500 Hz RK4/Implicit)

Synchronized Rollout Telemetry

Tracking Error Payload Z