Desktop Required

The interactive MuJoCo demo requires a desktop browser with WebGL and SharedArrayBuffer support.

← Back to paper

Perceptive BFM — Interactive Simulation 📄 Back to Paper Page
💡 If the robot falls, it stands back up on its own once the motion finishes — still stuck? Press R to reset.

Controls

SpacePause / Resume
RReset simulation
SToggle slow motion
HToggle height scan viz
Mouse dragOrbit camera
ScrollZoom
Right dragPan

No need to worry if the robot falls — it recovers to a standing pose on its own once the current motion finishes. If it stays down, press R to reset.

Use the motion dropdown in the bottom panel to switch between behaviors. The policy runs entirely in-browser via ONNX Runtime WASM.