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Jack Vial

@jackvial89 • 1,642 subscribers

Building robots and neural nets

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got cloud inference working! here i have smolvla running on a remote 4090 on prime intellect with a thin client running on my local pc sending observations to the remote server and receiving action chunks back. round trip latency is varying between 320-470ms! the 4090 instance I'm using is $0.62/hr and not even one of the cheaper ones, a raspberry pi v5 is < $100 and about $25 for a v3, which works fine as a client

got cloud inference working! here i have smolvla running on a remote 4090 on prime intellect with a thin client running on my local pc sending observations to the remote server and receiving action chunks back. round trip latency is varying between 320-470ms! the 4090 instance I'm using is $0.62/hr and not even one of the cheaper ones, a raspberry pi v5 is < $100 and about $25 for a v3, which works fine as a client

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60hz! real time chunking on an so101 with LeRobot. Not looking too bad. Bit of jitter throughout but no mode switching across chunks
0:20
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60hz! real time chunking on an so101 with LeRobot. Not looking too bad. Bit of jitter throughout but no mode switching across chunks

Jack Vial

83,001 views • 7 months ago

much smoother after applying a low pass Butterworth filter with a 3hz cutoff. this filters out high frequency small movements (aka noise) in the trajectory, it also naturally attenuates the signal so makes the robot move slower, I’ve added a bit of gain back to compensate and speed it up again after the filtering. still a bit jiggly, mainly in the shoulder pan but it seems to be mostly mechanical at this point
0:24
jackvial89's profile picture

much smoother after applying a low pass Butterworth filter with a 3hz cutoff. this filters out high frequency small movements (aka noise) in the trajectory, it also naturally attenuates the signal so makes the robot move slower, I’ve added a bit of gain back to compensate and speed it up again after the filtering. still a bit jiggly, mainly in the shoulder pan but it seems to be mostly mechanical at this point

Jack Vial

70,708 views • 7 months ago

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