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Jack Vial

@jackvial89 • 1,558 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

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

82,627 просмотров • 4 месяцев назад

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

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

69,148 просмотров • 4 месяцев назад

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