CapraMorphA CapraWorks project

Sim-first robot learning

Policies first.
Morphologies
later.

Train in simulation. Gate on evidence. Build only what survives.

Control policies are developed in MuJoCo.
Hardware follows the evidence.

Explore the research Read the method

MuJoCo simulation · SO-101 target morphology

Concept render of a tabletop robot arm transitioning from graphite metal to copper wireframe, reaching toward a cube.
Simulation → MorphologyConcept visual / SO-101
Policies are tested before hardware is built.

00 / Substrate

Passed

01 / Reach

Passed

02 / Pick + hold

Gate not passed

View progress log Latest entry 2026-09-08 · hardware bench

01 / Evidence

Every claim
needs a run.

Video. Telemetry.
Predefined exit criteria.

MuJoCo rollout
Simulated rollout / Phase 02Palm-up catch · 2026-08-22

Picks it up. Not reliably yet.

The grasp alone holds 19 of 20. Chained behind the reaching policy, the full pick lands 71–76% end to end. Phase 2 has not passed its own gate.

Read the evaluation notes

02 / Method

Simulation is the
primary instrument.

  1. 01

    Train in sim

    Develop and evaluate control policies in MuJoCo.

    Illustration of a robot arm inside a simulator window.
  2. 02

    Gate on evidence

    Judge each phase against criteria set before the run.

    Illustration of an evaluation checklist.
  3. 03

    Materialise

    Build hardware when the simulated evidence supports it.

    Line drawing of the target robot arm morphology.

Hardware is earned.

Questions about the research?

Illustrative exploded robot-arm concept, not an engineering drawing.
SO-101 inspired / Exploded concept