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Vikash Kumar

@Vikashplus • 6,091 subscribers

Building Human-embodied Intelligence. CEO @MyoLabAI | Sr. research scientist @OpenAI @GoogleAI @AIatMeta | @berkeley_ai @UWcse #MuJoCo | Ad. Prof. @CMU_Robotic

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📢#𝗥𝗼𝗯𝗼𝗛𝗶𝘃𝗲 - a unified robot learning framework ✅Designed for genralizn first robot-learning era ✅Diverse (500 envs, 8 domain) ✅Single flag for Sim<>Real ✅TeleOper Support ✅Multi-(Skill x Task) realworld dataset ✅pip install robohive 🧵👇

📢#𝗥𝗼𝗯𝗼𝗛𝗶𝘃𝗲 - a unified robot learning framework ✅Designed for genralizn first robot-learning era ✅Diverse (500 envs, 8 domain) ✅Single flag for Sim<>Real ✅TeleOper Support ✅Multi-(Skill x Task) realworld dataset ✅pip install robohive 🧵👇

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We are at NeurIPS Conference for our 4th #MyoChallenge and 7th #MyoSymposium! What started as a discussion with Vittorio Caggiano is a global community now MyoSuite 💪 In 2022, we started with two key hypotheses - 1⃣𝑺𝒄𝒂𝒍𝒊𝒏𝒈 𝑯𝒚𝒑𝒐𝒕𝒉𝒆𝒔𝒊𝒔: can we scale data driven learnings to achieve human level motor control? 2⃣𝑬𝒎𝒃𝒐𝒅𝒊𝒎𝒆𝒏𝒕 𝑯𝒚𝒑𝒐𝒕𝒉𝒆𝒔𝒊𝒔: Akin to Neurons's inspiration behind NN, are there embodied priors that will form the critical substrate to get to human performance? After 3 years, both these hypotheses are running strong. But in different ways than we anticipated -scaling hypothesis predicted vanilla RL algorithms (developed over OpenAI Gym and robotics tasks) will scale & realize human level motor control. RL did scale with better simulation & compute infrastructure but the curse of dimensionality became the limiter for high dimensional MSK systems. This is where our 2nd Embodiment Hypothesis kicked in. Spatial as well as morphological embodied priors facilitated development of next generation of algorithms at the intersection of representation and reinforcement learning - (DepRL from Pierre Schumacher et al, MyoDex & SAR from Cameron Vittorio Caggiano et al, Kinesis from Alberto Chiappa, muscleVAE from Yusen et al, etc) Current #MyoChallenge result evaluations phase was humbling realization - what started with a team of two evolved as a global community, the entry barriers has been lowered enough for even high school students, and underrepresented groups with limited resources to participate. It's incredible to realize the progress we have seen in 3 years. All the same time idiosyncrasies of the behaviors leave us quite unsatisfied and wanting more. Ahead of us there are exciting challenges on all frontiers -- embodiment, proprioceptive+exteroceptive sensing and control, validation -- presenting large real world potentials in health, wellness, sports, robotics. While there is a lot for us to be proud of, open challenges in understanding, as well as emulating human level motor intelligence remains. Join MyoSuite team for the awaited #MyoSymposium in discussing these frontiers on Saturday, Dec. 6th from 8-11 am: Ballroom 6D.

We are at NeurIPS Conference for our 4th #MyoChallenge and 7th #MyoSymposium! What started as a discussion with Vittorio Caggiano is a global community now MyoSuite 💪 In 2022, we started with two key hypotheses - 1⃣𝑺𝒄𝒂𝒍𝒊𝒏𝒈 𝑯𝒚𝒑𝒐𝒕𝒉𝒆𝒔𝒊𝒔: can we scale data driven learnings to achieve human level motor control? 2⃣𝑬𝒎𝒃𝒐𝒅𝒊𝒎𝒆𝒏𝒕 𝑯𝒚𝒑𝒐𝒕𝒉𝒆𝒔𝒊𝒔: Akin to Neurons's inspiration behind NN, are there embodied priors that will form the critical substrate to get to human performance? After 3 years, both these hypotheses are running strong. But in different ways than we anticipated -scaling hypothesis predicted vanilla RL algorithms (developed over OpenAI Gym and robotics tasks) will scale & realize human level motor control. RL did scale with better simulation & compute infrastructure but the curse of dimensionality became the limiter for high dimensional MSK systems. This is where our 2nd Embodiment Hypothesis kicked in. Spatial as well as morphological embodied priors facilitated development of next generation of algorithms at the intersection of representation and reinforcement learning - (DepRL from Pierre Schumacher et al, MyoDex & SAR from Cameron Vittorio Caggiano et al, Kinesis from Alberto Chiappa, muscleVAE from Yusen et al, etc) Current #MyoChallenge result evaluations phase was humbling realization - what started with a team of two evolved as a global community, the entry barriers has been lowered enough for even high school students, and underrepresented groups with limited resources to participate. It's incredible to realize the progress we have seen in 3 years. All the same time idiosyncrasies of the behaviors leave us quite unsatisfied and wanting more. Ahead of us there are exciting challenges on all frontiers -- embodiment, proprioceptive+exteroceptive sensing and control, validation -- presenting large real world potentials in health, wellness, sports, robotics. While there is a lot for us to be proud of, open challenges in understanding, as well as emulating human level motor intelligence remains. Join MyoSuite team for the awaited #MyoSymposium in discussing these frontiers on Saturday, Dec. 6th from 8-11 am: Ballroom 6D.

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🔴𝐔𝐧𝐜𝐨𝐦𝐟𝐨𝐫𝐭𝐚𝐛𝐥𝐞 𝐭𝐫𝐮𝐭𝐡: Robot hardware has never been the bottleneck in embodied AI. 🟧𝐑𝐞𝐚𝐥𝐢𝐭𝐲: Dexterous hands (most complex of all hardwares) have fascinated roboticist for decades! History books are packed with -- hands & manipulation Where do we stands today?

🔴𝐔𝐧𝐜𝐨𝐦𝐟𝐨𝐫𝐭𝐚𝐛𝐥𝐞 𝐭𝐫𝐮𝐭𝐡: Robot hardware has never been the bottleneck in embodied AI. 🟧𝐑𝐞𝐚𝐥𝐢𝐭𝐲: Dexterous hands (most complex of all hardwares) have fascinated roboticist for decades! History books are packed with -- hands & manipulation Where do we stands today?

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