DEPLOYDatabase

Brain

Success-Guided Sampling (SGS)

Success-Guided Sampling is a 2026 CoRL research method from the University of Washington and NVIDIA (Zhang, Guaman Castro, Yin, and co-authors) that changes only which task configurations PPO resets to, weighting resets toward moderate-success states so mega-scale sim RL unlocks contact-rich assembly and hard locomotion without demonstrations.

Research model · Maturity: Research · Closed

Machine-readable surfaces

Architecture

Standard PPO plus an outer success-history sampler over a fixed set of task configurations (initial state, goal, environment). Resets are weighted by recent success so neither trivial nor impossible configs dominate; same reward across NIST-board assembly tasks.

Key facts

Contact-rich sim2real zero-shot (research-stated)
CoRL 2026 SGS (UW + NVIDIA) trains PPO with success-weighted resets; UR5e meshes gears, threads nuts, inserts pegs from RGB with no demos, zero-shot from simulation.
Scales to 1M parallel envs (research-stated)
Authors report SGS keeps improving as parallel environments grow to one million, where uniform sampling and other baselines stall on locomotion and assembly.

Common questions

What is Success-Guided Sampling (SGS)?
Success-Guided Sampling is a 2026 CoRL research method from the University of Washington and NVIDIA (Zhang, Guaman Castro, Yin, and co-authors) that changes only which task configurations PPO resets to, weighting resets toward moderate-success states so mega-scale sim RL unlocks contact-rich assembly and hard locomotion without demonstrations.
Is Success-Guided Sampling (SGS) open source?
No. Success-Guided Sampling (SGS) is recorded as proprietary on the DEPLOY registry. Model weights and source are not publicly available.
What type of AI is Success-Guided Sampling (SGS)?
Success-Guided Sampling (SGS) is a research model, built on a Standard PPO plus an outer success-history sampler over a fixed set of task configurations (initial state, goal, environment). Resets are weighted by recent success so neither trivial nor impossible configs dominate; same reward across NIST-board assembly tasks. architecture on the DEPLOY registry.
What is Success-Guided Sampling (SGS)'s maturity stage?
Success-Guided Sampling (SGS) is at the research stage on the DEPLOY maturity ladder. Research stage means active development without commercial deployments on file.
Which robots run on Success-Guided Sampling (SGS)?
No robot models on the DEPLOY registry are recorded as running Success-Guided Sampling (SGS). DEPLOY wires brain-to-model connections only when the wiring is verifiable from primary sources; absence may reflect pre-deployment or unverified manufacturer claims.

Sources (2)

  1. https://sgs-rl.github.io · 2026-10-09
  2. https://x.com/octi_zhang/status/2108583315544682914 · 2026-10-09
Methodology: Verified · 2 sources (no primary) · last reviewed 2026-10-10

Verification posture

Verified

Low confidence

Review state

Stable

Last reviewed 2026-10-10

Maturity + lifecycle

Maturity stage: research

Sources by quality tier

2
unclassified
Unclassified source

The framework is documented at /methodology. Corrections at /corrections. Reviewer: DEPLOY editorial team.

Methodology surface for Success-Guided Sampling (SGS).

Canonical ID bb715c80-3a69-4fdd-8f0b-b4ad445ed9bb