PHYSICAL AI / LAB 2

Measure. Diagnose. Verify.

Find the cause of a missed target, repair the interface, and test the correction on new evidence.

CapabilityDistinguish sensor, frame, calibration, timing and contact faults through measurements.

What runsPhysX 5.6.1 contacts and screw guide; designed controller; sampled sensor model; kinematic arm. No trained policy or LeRobot model.

CompletionMeasured A/B improvement, a distinguishing test and diagnosis, then three locked-strategy transfer trials.

YOUR MISSION

Find the screw center

Adjust observation noise and filtering, then see whether the driver can still align with the simulated screw.

Observation noise 4 mm Belief filter 72%

Loading engine0%

CONTROLLER DECISION Waiting for a run

The interface will report whether the bit aligned, engaged, tightened, or stopped safely.

Tip alignment—bit to screw center

Estimated angular error—before pose correction

Peak contact load—Peak bit force · guide reaction

Screw seating0%measured from PhysX

PhysX upright-tool contacts and an idealized threaded guide. The arm is kinematic; angular errors are checked before contact. Thread wear, material damage, and hardware calibration are not simulated. Model & engine notes

ENGINEERING TAKEAWAY A screwdriver can tighten only after sensing, geometry, and contact agree.

Change one variable, run the task, and see exactly why the controller engaged the screw or stopped.

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