Institute for Physical AI @ BMI · a demonstration
The reflex from the last lesson knows the rule; something still has to run the ankle a hundred times a second, reading the sway and choosing the push. Here that something is a neural network — a real one, balancing the real body on the board right now. Click to shove it and watch it catch itself. Then guess how big the brain that does this actually is.
Provenance. The policy is a 2→16→16→1 multilayer perceptron, behaviour-cloned from the Layer-2 capture-point law: sway and speed in, ankle centre-of-pressure out, run closed-loop on the real inverted-pendulum body. The step itself stays a reflex underneath — when the capture point leaves the foot, it plants a foot on it. Released open. The demonstration — a policy you can watch balance the real mechanics on-device, and count the cost of — is ours.