Binh Pham
@pham_blnh • 3,189 subscribers
just a robotics hobbyist @livekit | prev @shipfr8 @southpkcommons
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you don’t need a robot to see physical ai in action, you just need a browser. this week I finally tried something I've wanted to do for a while: design an SO-101 scene in three.js, connect it to a real leader arm, collect teleoperation data, train an ACT model, then port it to run in the browser. the result is the first ever demo of ACT that runs locally on the web. try it yourself now at
Binh Pham119,755 Aufrufe • vor 23 Tagen
today is the last day fable 5 is in the claude code plan, so i gave it something i've always wanted to build: polytopia rebuilt in pure C, RL agents trained from scratch, playable in the browser completely vibecoded. i didn't write a line. even the game assets were ai-generated using a pipeline fable created. 🧵 below
Binh Pham45,753 Aufrufe • vor 10 Tagen
Just become the world’s first to run an LLM locally on a business card lol. Why? For fun. Details: - llama2.c by Andrej Karpathy with modifications from Dave Bennett - 24tok/sec on esp32s3 n16r8 w/ a 260k param model - designed the card myself, whole inspiration comes from ouija boards i.e talking with ghosts. if i put llms on my business card, it ought to be the ouija form factor lol. - pcb and smt sponsored by NextPCB Dropping video on youtube + schematics this weekend
Binh Pham384,264 Aufrufe • vor 10 Monaten
i bet you haven't seen a SO101 mounted on a wall like this before if you want to do the same, here is LeSlider: i built it cause i wanted something that can cover my whole desk for tasks like organizing and cleaning i originally wanted to have a belt system like what 3D printers have, but i was too lazy and used a pinion/track with another sts3215 so: > the extra motor shares the same bus as the rest of SO101 > you can have arbitrary length of track > really cheap and easy to assemble and control it turned out better than expected with this, i'm gonna train a model to pick random stuff up across my table and put it into a bin at the end of table (realistically using yolo to scan table, two policies, one for picking up objects, one for dropping)
Binh Pham98,324 Aufrufe • vor 2 Monaten
day 2 of building a self-driving power wheel today i officially trained a self driving model from scratch and deploy it on the car by just simply brute forcing everything, I: > made a remote tele-op and remote data collection app built on LiveKit infra > feat: 60ms e2e latency between the car and inference compute (car and compute in vietnam with singapore sfu) > feat: data is collected on operator side, baking latency into observation space itself (I expect this made the model more robust against latency) > recorded 30 min of data at 30fps and converted the dataset to lerobot (you can check a sample here) > trained a simple ACT model (3 epoch, batch size 8) to drive the car around my house > deployed the model on the car with remote inference the video explains everything shortly reflection: > the model is ofc bad, idt behavior cloning would work at all for such complex task on such small sample size > it did work in some cases where the observation is well within distribution, even generalizes to back the car when it gets stuck up next: > will hack alpamayo (NVIDIA) or comma ’s e2e to somehow fit this > or train with a llm backbone or a locomotion prior to see if it generalizes
Binh Pham19,404 Aufrufe • vor 3 Monaten
we won the embodied ai hackathon at South Park Commons last week this is how we did it 🧵
Binh Pham10,468 Aufrufe • vor 1 Monat
meet bopi, my backpack pet built on top of LiveKit's esp32 sdk, this little kewtie pie can spawn occasionally and talk you out of boredom with cute faces unlike hardware product launches recently, you can buy and build your bopi today i also have a completely offline version where bopi can go into deep sleep and survive for a few days on your backpack source code and instructions below
Binh Pham17,184 Aufrufe • vor 3 Monaten
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