Ilia

@IliaLarchenko • 1,954 subscribers

Data Science Director at Agoda | Ex-TOP-20 on Kaggle | Playing with robots for fun

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Anya Rossi

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I placed 🥈 2nd in the LeHome Challenge (at IEEE ICRA 2026) earlier this month, and before that I was 🥇 1st of 62 teams in the simulation round. Now I am sharing my solution — with a detailed logic walkthrough and open-source code. The task was to teach a cheap two-armed robot to fold different garments in simulation and on a real robot. I trained a VLA policy with an RL loop to make it work. Let's break it down 👇

I placed 🥈 2nd in the LeHome Challenge (at IEEE ICRA 2026) earlier this month, and before that I was 🥇 1st of 62 teams in the simulation round. Now I am sharing my solution — with a detailed logic walkthrough and open-source code. The task was to teach a cheap two-armed robot to fold different garments in simulation and on a real robot. I trained a VLA policy with an RL loop to make it work. Let's break it down 👇

20,471 просмотров • 24 дней назад

Pi-05 after just 30 minutes of fine-tuning. Feels like the best VLA I tried so far

Pi-05 after just 30 minutes of fine-tuning. Feels like the best VLA I tried so far

49,006 просмотров • 10 месяцев назад

A couple of days ago, I presented our 1st place solution for the 2025 BEHAVIOR Challenge at NeurIPS Conference . Now, we've open-sourced our solution: code, model weights, and a detailed tech report. Let me unpack what we did 👇

A couple of days ago, I presented our 1st place solution for the 2025 BEHAVIOR Challenge at NeurIPS Conference . Now, we've open-sourced our solution: code, model weights, and a detailed tech report. Let me unpack what we did 👇

27,629 просмотров • 7 месяцев назад

Pi0 from Physical Intelligence is one of the best generalist Vision-Language-Action (VLA) models for robotics (and predecessor of Pi0.5). 🧵 Here's how it works + how you can fine-tune it on your own robot for a simple task:

Pi0 from Physical Intelligence is one of the best generalist Vision-Language-Action (VLA) models for robotics (and predecessor of Pi0.5). 🧵 Here's how it works + how you can fine-tune it on your own robot for a simple task:

32,956 просмотров • 10 месяцев назад

1/ In my recent robotics experiments, I started exploring state-of-the-art (SOTA) behavioral cloning (BC) models. Initially, this was just a way to familiarize myself with the LeRobot library and understand the existing approaches. However unexpectedly I developed a very simple model that outperformed SOTA on two benchmark environments. This thread covers my findings, the model, and why I believe some current approaches might be overcomplicating things.

1/ In my recent robotics experiments, I started exploring state-of-the-art (SOTA) behavioral cloning (BC) models. Initially, this was just a way to familiarize myself with the LeRobot library and understand the existing approaches. However unexpectedly I developed a very simple model that outperformed SOTA on two benchmark environments. This thread covers my findings, the model, and why I believe some current approaches might be overcomplicating things.

39,395 просмотров • 1 год назад

I ran a quick test of Gemini Robotics ER 1.5 controlling my LeKiwi using the MCP I developed before. No extra code required - just specified a new model. Unfortunately, it doesn't work well, even though I had expected it to be the best, as it is the first major VLM model trained specifically for robotics applications. The video below is a relatively good attempt. It does understand what is going on and generates a reasonable action plan, but it is not doing well with the low-level control. I guess it was not trained for this and was used together with the VLA, so it is trained to generate more high-level commands like "grab this object and put it there" rather than doing low-level control specifying every robot movement step by step. Did anybody try to use it in a similar setup? What is your experience?

I ran a quick test of Gemini Robotics ER 1.5 controlling my LeKiwi using the MCP I developed before. No extra code required - just specified a new model. Unfortunately, it doesn't work well, even though I had expected it to be the best, as it is the first major VLM model trained specifically for robotics applications. The video below is a relatively good attempt. It does understand what is going on and generates a reasonable action plan, but it is not doing well with the low-level control. I guess it was not trained for this and was used together with the VLA, so it is trained to generate more high-level commands like "grab this object and put it there" rather than doing low-level control specifying every robot movement step by step. Did anybody try to use it in a similar setup? What is your experience?

15,601 просмотров • 9 месяцев назад

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