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A little weekend side-project, trying out gravity comp with PWM controls on an so-101 It holds but feels very stiff, the giant gear ratios probably impact backdriveability. Will see if any AI/SW tricks can mitigate, would prefer keeping standard servos Pepijn 🦾

Ville🤖

3,519 subscribers

16,106 просмотров • 2 месяцев назад •via X (Twitter)

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Комментарии: 11

Фото профиля Jason Liu

Jason Liu2 месяцев назад

@pepijn2233 stiction compensation can help a lot if you haven’t tried it already

Фото профиля Embedr

Embedr2 месяцев назад

@pepijn2233 that limb is looking dangerously close to gaining free will

Фото профиля Paolo AI

Paolo AI2 месяцев назад

@pepijn2233 Let's compare notes I did the same for the ElRobot arm.

Фото профиля Ville🤖

Ville🤖2 месяцев назад

@pepijn2233 > "these motors only have position control" this is not right for feetechs, they offer direct pwm control as well which allows us to approximate voltage & current control. this is the correct way to implement gravity comp rather than using position control

Фото профиля Paolo AI

Paolo AI2 месяцев назад

@pepijn2233 I like your approach with PWM I am going to test it too.

Фото профиля atharva ☆

atharva ☆2 месяцев назад

@pepijn2233 share code I think I can help you with this

Фото профиля Ville🤖

Ville🤖2 месяцев назад

@pepijn2233 I will eventually but it's not ready yet, what part might you be able to help out with?

Фото профиля Praveen Selvaraj

Praveen Selvaraj2 месяцев назад

@pepijn2233 should make teleop easier right, esp bimanual ?

Фото профиля Ville🤖

Ville🤖2 месяцев назад

@pepijn2233 it's step 1/n on that journey and I'm not sure if all steps are feasible on these motors

Фото профиля Makr3D

Makr3D2 месяцев назад

@pepijn2233 The standard servos may still be workable if the gravity term stays deliberately conservative. Have you measured backdrive torque across the joint range yet? That would help separate gearbox friction from controller stiffness before adding more software compensation.

Фото профиля Yuv Bindal

Yuv Bindal1 месяц назад

@pepijn2233 gravity comp on a so101 is fiddly. connect sometime

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Sensitive content

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The Techno Optimist

14,233 просмотров • 2 месяцев назад

Americans who still haven’t figured this out yet need to wake up and understand this is reality: “I really hate to break it to you, but if your party controls the news media, the entertainment industry, and education, you're not part of the resistance And if the education that you received from this one-party-controlled education system forces you to rewrite history, ignore science, and divorce yourself from reality, I fear you didn't get an education at all. You got indoctrination. And if the information that you're receiving from your party is filled with so much violent rhetoric that people from your side are consistently trying to threaten and attempting to end the lives of people on the other side without any condemnation from the leaders of your side, you're on the wrong side of history” I ran all of these institutions through Grok and asked which political party controls each one of them. An unbiased AI that just looks at data and seeks truth answered that the Democrat Party controls them all People are being mass indoctrinated

Americans who still haven’t figured this out yet need to wake up and understand this is reality: “I really hate to break it to you, but if your party controls the news media, the entertainment industry, and education, you're not part of the resistance And if the education that you received from this one-party-controlled education system forces you to rewrite history, ignore science, and divorce yourself from reality, I fear you didn't get an education at all. You got indoctrination. And if the information that you're receiving from your party is filled with so much violent rhetoric that people from your side are consistently trying to threaten and attempting to end the lives of people on the other side without any condemnation from the leaders of your side, you're on the wrong side of history” I ran all of these institutions through Grok and asked which political party controls each one of them. An unbiased AI that just looks at data and seeks truth answered that the Democrat Party controls them all People are being mass indoctrinated

Wall Street Apes

578,215 просмотров • 2 месяцев назад

Epoch AI researcher, Greg Burnham on the board game his team is using to prove AI still can't learn from experience like humans do: "We used the board game Earthborne Rangers as a test case for, if we give AI something unfamiliar, can it get better than its starting point?" "We chose a board game that can be played in solo mode, has relatively little spatial or visual reasoning. This game is based on building a deck and playing through cards, and you're exploring a wilderness landscape. Our benchmark covers five days of this game." "Out of the box, AI comes out pretty strong. It's probably playing better than a human would on a human's first try. But then we say, okay, keep playing. Take notes as you go. You're going to try to get better." "We basically just see flat performance. They don't make friends with the board game and figure out how it works and get better at it over time." "There's 21 objectives. Our best human run ever hits 20 out of 21. The AI systems can get 10, 11, 12 on an early run, but we let them play like 30 times, and they don't get any better than that." "This is a result more generally about learning on the fly. People call this continual learning. It's a very strong capability. If AI ever develops it, it kind of really upends a lot of assumptions we have. But so far this seems to not be a capability that we're observing." Greg Burnham Epoch AI

Epoch AI researcher, Greg Burnham on the board game his team is using to prove AI still can't learn from experience like humans do: "We used the board game Earthborne Rangers as a test case for, if we give AI something unfamiliar, can it get better than its starting point?" "We chose a board game that can be played in solo mode, has relatively little spatial or visual reasoning. This game is based on building a deck and playing through cards, and you're exploring a wilderness landscape. Our benchmark covers five days of this game." "Out of the box, AI comes out pretty strong. It's probably playing better than a human would on a human's first try. But then we say, okay, keep playing. Take notes as you go. You're going to try to get better." "We basically just see flat performance. They don't make friends with the board game and figure out how it works and get better at it over time." "There's 21 objectives. Our best human run ever hits 20 out of 21. The AI systems can get 10, 11, 12 on an early run, but we let them play like 30 times, and they don't get any better than that." "This is a result more generally about learning on the fly. People call this continual learning. It's a very strong capability. If AI ever develops it, it kind of really upends a lot of assumptions we have. But so far this seems to not be a capability that we're observing." Greg Burnham Epoch AI

MTS

13,061 просмотров • 2 месяцев назад