Acrobot playground
A two-link robot with one motor at its elbow. Drag a joint, press release, and watch a learned controller try to balance it.
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M marks the elbow motor. The arrow shows its torque: direction and strength. The base pivot is unpowered.
About this experiment
I trained this controller by imitation: it learned from examples of swinging up and balancing. The controller reads the joint angles and velocities and applies torque at the elbow. The base joint has no motor.
The policy and simulation run in your browser. Some starting positions recover; others do not. There is no fallback controller.
The model uses 467 radial-basis units and limits torque to ±1 N·m. It chooses a new action every 50 milliseconds.