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Arjun Virk

@virkvarjun • 2,754 subscribers

I build generalist policies and share my learnings here | ML @bracketbot | Researcher @UCLA's BAIR Lab | Software Engineering @UWaterloo

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I just spent weeks handwriting a 200+ page guide on the entirety of Robotics foundations from scratch. Featuring: - Kinematics (Forward, Inverse Kin, Jacobians, DoF) - Controls (PID, Force/Impedance Control, Feedforward) - SLAM (Bayes Filters, Kalman, Particle Filters, Mapping) - Motion Planning (Dijkstra, A*, RRT, RRT*) - RL (MDP, Policy Gradients, PPO, Sim2Real, Value Func) - VLA (Q/K/V, ViT, SigLIP, Diffusion/Flow-Matching) - ACT, Diffusion Policy, UMI, LeRobot tooling - World Model (Dreamer, VideoGen, Gaussian Splatting) Everything to get started, for free.

I just spent weeks handwriting a 200+ page guide on the entirety of Robotics foundations from scratch. Featuring: - Kinematics (Forward, Inverse Kin, Jacobians, DoF) - Controls (PID, Force/Impedance Control, Feedforward) - SLAM (Bayes Filters, Kalman, Particle Filters, Mapping) - Motion Planning (Dijkstra, A, RRT, RRT) - RL (MDP, Policy Gradients, PPO, Sim2Real, Value Func) - VLA (Q/K/V, ViT, SigLIP, Diffusion/Flow-Matching) - ACT, Diffusion Policy, UMI, LeRobot tooling - World Model (Dreamer, VideoGen, Gaussian Splatting) Everything to get started, for free.

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Day 9/30: Learning RL in Robotics Today, I'm proud to release my new research: FAACT (Failure-Aware Action Chunking Transformer). Through lots of testing and design, I was able to create an embedding space for my model to understand failure states and exploit ACT to self-correct its motion. Today, I demoed this at New to Entrepreneurs First and Krishiv, Nadia Susanto More to come in the next few days at Socratica...

Day 9/30: Learning RL in Robotics Today, I'm proud to release my new research: FAACT (Failure-Aware Action Chunking Transformer). Through lots of testing and design, I was able to create an embedding space for my model to understand failure states and exploit ACT to self-correct its motion. Today, I demoed this at New to Entrepreneurs First and Krishiv, Nadia Susanto More to come in the next few days at Socratica...

11,757 görüntüleme • 5 ay önce

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