Simeon Nedelchev
Actuator command, activation state, and generalized force differ.
Sensors need declared units, frames, and timing.
A model and data enter a functional step.
JAX transformations can compile and batch supported computations.
Each batch entry is an independent environment.
Interacting robots require a shared physical scene.
The first call includes compilation.
Synchronization completes device work before the timer stops.
Exact simulator velocity differs from noisy finite-difference velocity.
The estimator belongs in the experiment.
Separate model error, discretization error, and implementation error.
Reference: MuJoCo MJX