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Second-order skill synthesizing Patrick Kenny's discrete active inference framework with K-Scale's JAX/MuJoCo robotics stack for predictive coding in robot locomotion
- User asks about sim2real transfer mechanisms
- User asks about robot simulation, humanoid locomotion, or RL policy training
Convert URDF robot descriptions to MJCF format for MuJoCo simulation. Handles meshes, joints, actuators, and collision geometries.
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