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🤖Adding new RL algorithms to LeRobot just got much easier. Demo: HIL-SERL training with a SAC-based RL algorithm on an SO-100 for a hole-in-hand peg-in-hole task. Sparse reward, only 30 offline demos mixed with live robot experience, and ~1 hour of online training with human interventions only when the...

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LeRobot

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30,600 Aufrufe • vor 3 Monaten •via X (Twitter)

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34,889 Aufrufe • vor 2 Jahren

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46,285 Aufrufe • vor 1 Jahr

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Matt Turck

235,526 Aufrufe • vor 10 Monaten

Can an inexpensive, off-the-shelf IMU be the only sensor to estimate the full state (position, velocity, orientation) of a quadrotor flying through a track at high speed and even be on-pair with vision-based localization? The answer is yes, within certain limitations! In this #RAL2023 paper, we propose a learning-based odometry algorithm that couples a model-based filter driven by the inertial measurements with a learning-based module with access to the control commands. Our system outperforms by a large margin the state-of-the-art visual-inertial odometry (#VIO) algorithms and the state-of-the-art learned-inertial odometry algorithm, #TLIO, for the task of drone racing. Additionally, we show that our system is as accurate as a VIO algorithm that uses a camera to localize to a known map of the racing track. The main limitation of our approach is that it cannot generalize to trajectories that have not been seen at training time. However, in drone racing competitions, the track is known beforehand. Human pilots spend hours or even days of practice on the race track before the competition. Similarly, our system can be trained with the data collected during practice time and deployed during the competition. Future work will investigate how to generalize to trajectories not seen at training time. The code is released! Paper: Video: Code: Kudos to Giovanni Cioffi Leonard Bauersfeld Elia Kaufmann European Research Council (ERC) University of Zurich UZH Science UZH Space Hub NCCR Robotics Aerial Core #RAL2023 #IROS2023 #SLAM
0:31

Can an inexpensive, off-the-shelf IMU be the only sensor to estimate the full state (position, velocity, orientation) of a quadrotor flying through a track at high speed and even be on-pair with vision-based localization? The answer is yes, within certain limitations! In this #RAL2023 paper, we propose a learning-based odometry algorithm that couples a model-based filter driven by the inertial measurements with a learning-based module with access to the control commands. Our system outperforms by a large margin the state-of-the-art visual-inertial odometry (#VIO) algorithms and the state-of-the-art learned-inertial odometry algorithm, #TLIO, for the task of drone racing. Additionally, we show that our system is as accurate as a VIO algorithm that uses a camera to localize to a known map of the racing track. The main limitation of our approach is that it cannot generalize to trajectories that have not been seen at training time. However, in drone racing competitions, the track is known beforehand. Human pilots spend hours or even days of practice on the race track before the competition. Similarly, our system can be trained with the data collected during practice time and deployed during the competition. Future work will investigate how to generalize to trajectories not seen at training time. The code is released! Paper: Video: Code: Kudos to Giovanni Cioffi Leonard Bauersfeld Elia Kaufmann European Research Council (ERC) University of Zurich UZH Science UZH Space Hub NCCR Robotics Aerial Core #RAL2023 #IROS2023 #SLAM

Davide Scaramuzza

37,061 Aufrufe • vor 2 Jahren

New blackboard lecture w Eric Jang He walks through how to build AlphaGo from scratch, but with modern AI tools. Sometimes you understand the future better by stepping backward. AlphaGo is still the cleanest worked example of the primitives of intelligence: search, learning from experience, and self-play. You have to go back to 2017 to get insight into how the more general AIs of the future might learn. Once he explained how AlphaGo works, it gave us the context to have a discussion about how RL works in LLMs and how it could work better – naive policy gradient RL has to figure out which of the 100k+ tokens in your trajectory actually got you the right answer, while AlphaGo’s MCTS suggests a strictly better action every single move, giving you a training target that sidesteps the credit assignment problem. The way humans learn is surely closer to the second. Eric also kickstarted an Autoresearch loop on his project. And it was very interesting to discuss which parts of AI research LLMs can already automate pretty well (implementing and running experiments, optimizing hyperparameters) and which they still struggle with (choosing the right question to investigate next, escaping research dead ends). Informative to all the recent discussion about when we should expect an intelligence explosion, and what it would look like from the inside. Timestamps: 0:00:00 – Basics of Go 0:08:06 – Monte Carlo Tree Search 0:31:53 – What the neural network does 1:00:22 – Self-play 1:25:27 – Alternative RL approaches 1:45:36 – Why doesn’t MCTS work for LLMs 2:00:58 – Off-policy training 2:11:51 – RL is even more information inefficient than you thought 2:22:05 – Automated AI researchers
2:37:17

New blackboard lecture w Eric Jang He walks through how to build AlphaGo from scratch, but with modern AI tools. Sometimes you understand the future better by stepping backward. AlphaGo is still the cleanest worked example of the primitives of intelligence: search, learning from experience, and self-play. You have to go back to 2017 to get insight into how the more general AIs of the future might learn. Once he explained how AlphaGo works, it gave us the context to have a discussion about how RL works in LLMs and how it could work better – naive policy gradient RL has to figure out which of the 100k+ tokens in your trajectory actually got you the right answer, while AlphaGo’s MCTS suggests a strictly better action every single move, giving you a training target that sidesteps the credit assignment problem. The way humans learn is surely closer to the second. Eric also kickstarted an Autoresearch loop on his project. And it was very interesting to discuss which parts of AI research LLMs can already automate pretty well (implementing and running experiments, optimizing hyperparameters) and which they still struggle with (choosing the right question to investigate next, escaping research dead ends). Informative to all the recent discussion about when we should expect an intelligence explosion, and what it would look like from the inside. Timestamps: 0:00:00 – Basics of Go 0:08:06 – Monte Carlo Tree Search 0:31:53 – What the neural network does 1:00:22 – Self-play 1:25:27 – Alternative RL approaches 1:45:36 – Why doesn’t MCTS work for LLMs 2:00:58 – Off-policy training 2:11:51 – RL is even more information inefficient than you thought 2:22:05 – Automated AI researchers

Dwarkesh Patel

706,421 Aufrufe • vor 3 Monaten

Ever wished we had fewer X-training hyphenates? Pre, mid, post etc. Why not just Training? Trying to bridge the divides (and get all our friends into one team again), we intro *Introspective X Training*, an offline RL inspired method that scales effectively across any LLM stage by annotating your data with a thinking reward generated language critique! Up to 2.8x FLOP efficiency + 5-10 point score gains (esp with math and code) at any stage from scratch to 24T tokens on 8b (active) sized models!! We burned much compute ablating so you wouldn't have to Moral of the story is‼️don't throw out any data via filtering, just feedback condition it‼️ You can spend FLOPs up front on inference to *classify* data quality and then train so that tokens aren't all treated equally based on the feedback starting early in training itself. Right now they're really only separated out much later during mid/post training This improves overall compute efficiency and gives us benchmark perf not possible with just baseline methods! Paper here: Thanks to Brandon Cui and Ximing Lu for leading this w/ Syeda Nahida Akter David Acuna Hyunwoo Kim Jaehun Jung Yuxiao Qu Shrimai Yejin Choi
0:34

Ever wished we had fewer X-training hyphenates? Pre, mid, post etc. Why not just Training? Trying to bridge the divides (and get all our friends into one team again), we intro *Introspective X Training*, an offline RL inspired method that scales effectively across any LLM stage by annotating your data with a thinking reward generated language critique! Up to 2.8x FLOP efficiency + 5-10 point score gains (esp with math and code) at any stage from scratch to 24T tokens on 8b (active) sized models!! We burned much compute ablating so you wouldn't have to Moral of the story is‼️don't throw out any data via filtering, just feedback condition it‼️ You can spend FLOPs up front on inference to *classify* data quality and then train so that tokens aren't all treated equally based on the feedback starting early in training itself. Right now they're really only separated out much later during mid/post training This improves overall compute efficiency and gives us benchmark perf not possible with just baseline methods! Paper here: Thanks to Brandon Cui and Ximing Lu for leading this w/ Syeda Nahida Akter David Acuna Hyunwoo Kim Jaehun Jung Yuxiao Qu Shrimai Yejin Choi

Prithviraj (Raj) Ammanabrolu

27,672 Aufrufe • vor 3 Monaten

15–30 minutes of real-world robot data. That's now enough to go from sim-to-real failure to working robot. Let’s see… You train a robot in simulation. You deploy it in the real world. It fails. The physics don't match. So you try to fine-tune it with real data, but… you never have enough real data, and the fine-tuning breaks everything the simulation taught it. SimDist fixes this with one key decision: don't transfer the policy. Transfer the world model. Keep the reward and value knowledge from simulation frozen. Only update the part that's actually wrong, how the robot predicts physics. Now the robot doesn't have to relearn the entire task in the real world. It already knows what success looks like. It just needs to correct its understanding of how the real world moves. The part that makes this work: they also trained on failures and recoveries; not just perfect demonstrations. Without that, the planner finds the gaps and exploits them. With it, the robot can tell a good future from a bad one. That's all it needs. Results on peg insertion, table leg assembly, locomotion on slippery and uneven surfaces. Tasks that require precision, force, and quick reaction. Thanks for sharing, Tyler Westenbroek ([Tyler Westenbroek]. Interactive visualization + paper: ——- Weekly robotics and AI insights. Subscribe free:
0:41

15–30 minutes of real-world robot data. That's now enough to go from sim-to-real failure to working robot. Let’s see… You train a robot in simulation. You deploy it in the real world. It fails. The physics don't match. So you try to fine-tune it with real data, but… you never have enough real data, and the fine-tuning breaks everything the simulation taught it. SimDist fixes this with one key decision: don't transfer the policy. Transfer the world model. Keep the reward and value knowledge from simulation frozen. Only update the part that's actually wrong, how the robot predicts physics. Now the robot doesn't have to relearn the entire task in the real world. It already knows what success looks like. It just needs to correct its understanding of how the real world moves. The part that makes this work: they also trained on failures and recoveries; not just perfect demonstrations. Without that, the planner finds the gaps and exploits them. With it, the robot can tell a good future from a bad one. That's all it needs. Results on peg insertion, table leg assembly, locomotion on slippery and uneven surfaces. Tasks that require precision, force, and quick reaction. Thanks for sharing, Tyler Westenbroek ([Tyler Westenbroek]. Interactive visualization + paper: ——- Weekly robotics and AI insights. Subscribe free:

Ilir Aliu

14,214 Aufrufe • vor 3 Monaten

Mistral AI Releases Robostral Navigate: An 8B Model Enabling Robots to Navigate Complex Environments Hitting 76.6% on R2R-CE With One RGB Camera. No LiDAR. No depth sensor. No multi-camera rig. Here's how it works. 👇 1. Pointing, not metric commands The model predicts the pixel coordinates of the next target in the camera view, plus the arrival orientation. Working in pixel space keeps it robust to camera intrinsics and world scale. When the target leaves the frame, it falls back to local displacements ("2m forward, 1.5m left, turn 25°"). 2. Grounding-first No open-source VLM base. It starts from Mistral's grounding model (pointing, counting, localization). Navigation emerges once the model knows where things are. → ~400,000 trajectories across 6,000 simulated scenes 3. Prefix-caching for training A tree-based attention mask packs a full episode into one sequence — all time steps in a single forward pass. → 22× fewer training tokens; months of training done in days 4. Online RL on top After supervised training, CISPO adds trial-and-error learning to fight distribution shift from behavior cloning. → +3.2% success rate from RL alone 5. The numbers (R2R-CE, Matterport3D) → 76.6% success on validation unseen → +9.7 pts over best single-camera approach → +4.5 pts over best depth/multi-camera system The key takeaway: state-of-the-art continuous VLN without a sensor stack — grounding-init, pixel-space actions, prefix-cached SFT, and online RL, on one RGB camera. Full analysis: Technical details: Mistral AI Mistral AI for Developers
0:22

Mistral AI Releases Robostral Navigate: An 8B Model Enabling Robots to Navigate Complex Environments Hitting 76.6% on R2R-CE With One RGB Camera. No LiDAR. No depth sensor. No multi-camera rig. Here's how it works. 👇 1. Pointing, not metric commands The model predicts the pixel coordinates of the next target in the camera view, plus the arrival orientation. Working in pixel space keeps it robust to camera intrinsics and world scale. When the target leaves the frame, it falls back to local displacements ("2m forward, 1.5m left, turn 25°"). 2. Grounding-first No open-source VLM base. It starts from Mistral's grounding model (pointing, counting, localization). Navigation emerges once the model knows where things are. → ~400,000 trajectories across 6,000 simulated scenes 3. Prefix-caching for training A tree-based attention mask packs a full episode into one sequence — all time steps in a single forward pass. → 22× fewer training tokens; months of training done in days 4. Online RL on top After supervised training, CISPO adds trial-and-error learning to fight distribution shift from behavior cloning. → +3.2% success rate from RL alone 5. The numbers (R2R-CE, Matterport3D) → 76.6% success on validation unseen → +9.7 pts over best single-camera approach → +4.5 pts over best depth/multi-camera system The key takeaway: state-of-the-art continuous VLN without a sensor stack — grounding-init, pixel-space actions, prefix-cached SFT, and online RL, on one RGB camera. Full analysis: Technical details: Mistral AI Mistral AI for Developers

Marktechpost AI

39,955 Aufrufe • vor 1 Monat

Let's reverse engineer this demo. You need 3 things: (1) robust hardware and motor designs that treat simulation as first-class citizen; (2) a human motion capture ("mocap") dataset, such as those for film and gaming characters; (3) massively parallel RL training in GPU-accelerated simulation. Last October, our team trained a 1.5M parameter foundation model called HOVER for such agile motor control. It follows this recipe, roughly speaking (details in thread): (1) Simulation used to be an after-thought. Now, it has to be part of the hardware design process. If your robot doesn't simulate well, you can kiss RL goodbye. Hardware-simulation co-design is a very interesting emergent topic that only becomes meaningful with today's compute capability. (2) Human mocap dataset to produce natural-looking walking and running gaits. That's one huge advantage of using humanoid robot - you get to imitate from tons of human motions that were originally captured for movies or AAA games. At least 3 ways to use the data: - For initialization: pre-train the neural net to imitate human, and then finetune it into the robot form factor with physics turned on; - For reward function: penalize any deviations from the target pose; - For representation learning: treat the human poses as a "motion prior" to constrain the space of robot behaviors. (3) Shove the above into Isaac sim, add a lot of randomization, pump it through PPO, throw in a bunch of GPUs, and then watch Netflix till loss converges. If you have an urge to comment this is CGI, let me save you a few keystrokes — many academic labs now own the G1 robot in the flesh. See our team's HOVER work in the thread: 🧵
1:04

Let's reverse engineer this demo. You need 3 things: (1) robust hardware and motor designs that treat simulation as first-class citizen; (2) a human motion capture ("mocap") dataset, such as those for film and gaming characters; (3) massively parallel RL training in GPU-accelerated simulation. Last October, our team trained a 1.5M parameter foundation model called HOVER for such agile motor control. It follows this recipe, roughly speaking (details in thread): (1) Simulation used to be an after-thought. Now, it has to be part of the hardware design process. If your robot doesn't simulate well, you can kiss RL goodbye. Hardware-simulation co-design is a very interesting emergent topic that only becomes meaningful with today's compute capability. (2) Human mocap dataset to produce natural-looking walking and running gaits. That's one huge advantage of using humanoid robot - you get to imitate from tons of human motions that were originally captured for movies or AAA games. At least 3 ways to use the data: - For initialization: pre-train the neural net to imitate human, and then finetune it into the robot form factor with physics turned on; - For reward function: penalize any deviations from the target pose; - For representation learning: treat the human poses as a "motion prior" to constrain the space of robot behaviors. (3) Shove the above into Isaac sim, add a lot of randomization, pump it through PPO, throw in a bunch of GPUs, and then watch Netflix till loss converges. If you have an urge to comment this is CGI, let me save you a few keystrokes — many academic labs now own the G1 robot in the flesh. See our team's HOVER work in the thread: 🧵

Jim Fan

216,139 Aufrufe • vor 1 Jahr

Reinforcement Learning from Human Feedback (RLHF) is gaining traction. This field aims to make AI more responsible by including human values and preferences. In this video, Nathan Lambert, a research scientist and RLHF team lead at Hugging Face explores its inner workings, applications and industry impact. RLHF has gained the spotlight in recent years. The growth of language models like Anthropic’s Claude and OpenAI's ChatGPT have increased interest in human-feedback integration. "There are some rumors that Open AI had two teams; one was doing RLHF and the other instruction fine-tuning. And the RLHF team kept getting more and more performance." Understanding RLHF The RLHF process has three main steps: Pre-training: Much like with GPT models, the journey starts with pre-training on a large corpus of data. This can range from text data, web scrapes, to specialized datasets. Reward Modeling: This is the RLHF counterpart of supervised fine-tuning in large language models. This stage involves creating a reward model that resonates with human values and preferences. RL Optimization: This stage parallels reward modeling and reinforcement learning in traditional AI models. The AI system fine-tunes itself based on the reward model, employing reinforcement learning algorithms for that extra layer of optimization. The Data Challenge Data collection and curation in RLHF closely resemble the challenges you'd encounter in large language model training. Datasets from organizations like OpenAI can serve as a useful foundation. However, the need for high-quality, task-specific data cannot be overstated. Implementing RLHF: A Practical Guide If you’re someone who loves getting hands-on with AI libraries like Hugging Face, implementing RLHF is right way to do. It’s essential to understand its limitations. Think about model stability, over-optimization, and exploration strategies, much like you would when prompt engineering. Ongoing Research and Next Steps While he suggests that some basics figured out, there are layers of complexity that still need to be unraveled: 1. New Benchmarks: How do we measure the effectiveness of RLHF? 2. Preference Modeling: How can the model be made to understand human preferences better? 3. Interpreting RLHF: Much like explainability in traditional models, how do we make RLHF more interpretable? 4. System-Wide Evaluation: Going beyond individual performance, how does RLHF affect an entire system? The Transformative Power of RLHF Whether you're an AI developer, a business analyst, or a marketer, RLHF promises to revolutionize your domain. Imagine customer service chatbots that understand human emotions better, or content generators that align more closely with human values. RLHF is an emerging field that focuses on enhancing machine learning models through human feedback. While it tackles important issues like bias and ethics, its broader goal is to improve system performance across various applications. Whether you're deeply invested in the ethics of AI or simply curious about advancements in machine learning, RLHF offers valuable insights. If you're interested in the next wave of AI development, this area is definitely one to watch.
2:00

Reinforcement Learning from Human Feedback (RLHF) is gaining traction. This field aims to make AI more responsible by including human values and preferences. In this video, Nathan Lambert, a research scientist and RLHF team lead at Hugging Face explores its inner workings, applications and industry impact. RLHF has gained the spotlight in recent years. The growth of language models like Anthropic’s Claude and OpenAI's ChatGPT have increased interest in human-feedback integration. "There are some rumors that Open AI had two teams; one was doing RLHF and the other instruction fine-tuning. And the RLHF team kept getting more and more performance." Understanding RLHF The RLHF process has three main steps: Pre-training: Much like with GPT models, the journey starts with pre-training on a large corpus of data. This can range from text data, web scrapes, to specialized datasets. Reward Modeling: This is the RLHF counterpart of supervised fine-tuning in large language models. This stage involves creating a reward model that resonates with human values and preferences. RL Optimization: This stage parallels reward modeling and reinforcement learning in traditional AI models. The AI system fine-tunes itself based on the reward model, employing reinforcement learning algorithms for that extra layer of optimization. The Data Challenge Data collection and curation in RLHF closely resemble the challenges you'd encounter in large language model training. Datasets from organizations like OpenAI can serve as a useful foundation. However, the need for high-quality, task-specific data cannot be overstated. Implementing RLHF: A Practical Guide If you’re someone who loves getting hands-on with AI libraries like Hugging Face, implementing RLHF is right way to do. It’s essential to understand its limitations. Think about model stability, over-optimization, and exploration strategies, much like you would when prompt engineering. Ongoing Research and Next Steps While he suggests that some basics figured out, there are layers of complexity that still need to be unraveled: 1. New Benchmarks: How do we measure the effectiveness of RLHF? 2. Preference Modeling: How can the model be made to understand human preferences better? 3. Interpreting RLHF: Much like explainability in traditional models, how do we make RLHF more interpretable? 4. System-Wide Evaluation: Going beyond individual performance, how does RLHF affect an entire system? The Transformative Power of RLHF Whether you're an AI developer, a business analyst, or a marketer, RLHF promises to revolutionize your domain. Imagine customer service chatbots that understand human emotions better, or content generators that align more closely with human values. RLHF is an emerging field that focuses on enhancing machine learning models through human feedback. While it tackles important issues like bias and ethics, its broader goal is to improve system performance across various applications. Whether you're deeply invested in the ethics of AI or simply curious about advancements in machine learning, RLHF offers valuable insights. If you're interested in the next wave of AI development, this area is definitely one to watch.

Muratcan Koylan

27,168 Aufrufe • vor 2 Jahren

Another piece from the Sasha Rush conversation, this time on rewards for coding RL. He said Cursor uses a mix. Some rewards look at the tool calls themselves, some only at the final output. Everything end-to-end, no process rewards guessing what happens in the middle. I agree with him that the next push (and the current one) is going past verifiers. Coding is a good example where you get both. You have the 0/1 signals, but also a ton of soft ones. Does the diff read well? Did the agent burn context for no reason? Is the PR the right size? Did it rewrite a file it didn't need to touch? So many signals sitting there, and we need to figure out how to actually train on them. This is also why I think the environment (and the data) is becoming the bottleneck, not the algorithm. GRPO works. PPO works. The hard part is building a sandbox that exposes enough signal to learn from. We're already seeing this, and it'll only accelerate: a whole category of companies selling environments is emerging, and they have a good reward to do so…
2:00

Another piece from the Sasha Rush conversation, this time on rewards for coding RL. He said Cursor uses a mix. Some rewards look at the tool calls themselves, some only at the final output. Everything end-to-end, no process rewards guessing what happens in the middle. I agree with him that the next push (and the current one) is going past verifiers. Coding is a good example where you get both. You have the 0/1 signals, but also a ton of soft ones. Does the diff read well? Did the agent burn context for no reason? Is the PR the right size? Did it rewrite a file it didn't need to touch? So many signals sitting there, and we need to figure out how to actually train on them. This is also why I think the environment (and the data) is becoming the bottleneck, not the algorithm. GRPO works. PPO works. The hard part is building a sandbox that exposes enough signal to learn from. We're already seeing this, and it'll only accelerate: a whole category of companies selling environments is emerging, and they have a good reward to do so…

Ravid Shwartz Ziv

14,826 Aufrufe • vor 4 Monaten

New framework: Kick down your robot, it will get back up every time 🥋 Chinese startup RoboParty is a Beijing startup founded April 2025 by Huang Yi, originally shipping ROBOTO ORIGIN, the world's first full-stack open-source bipedal humanoid. They released UFO: Unsupervised Reinforcement Learning Framework for Humanoid Control. DEFINITIONS -> what differs is where the learning signal comes from: - SUPERVISED: humans supply the right answers (labels), the model imitates them. - UNSUPERVISED: no answer key, the model finds structure in raw data on its own. - REINFORCEMENT LEARNING: no answer key either, the model tries things and a reward scores each attempt. → UNSUPERVISED RL: trial and error where the agent invents its own rewards, instead of engineers hand-writing one per task. REPRESENTATION LEARNING: compress raw states into a useful internal map. TEMPORAL DISTANCE: distance on that map is "how many steps from A to B." CONTRASTIVE: trained by pulling together what's close in time, pushing apart what isn't. -> CONTRASTIVE TEMPORAL-DISTANCE REPRESENTATION LEARNING: the model builds an internal map of body states where distance means how many steps it takes to get from one to another. It is trained by contrast: states that occur close together in a movement get pulled together in the map, randomly paired states get pushed apart. UFO is an open-source training framework that teaches humanoid robots skills, like getting up, walking, goal-reaching, teleoperation, without reference motions -> no motion-capture or human-video demonstrations to imitate. Its core is TeCH, a contrastive temporal-distance representation-learning algorithm: the robot explores, builds pseudo-goals by temporal rolling, and learns goal-conditioned policies from a single unified progress reward. One framework trains five different robots (Unitree G1/H1, RoboParty RP0/RP1, AgiBot X2) with automatic config conversion in ~2–3 hours per robot! The real novelty here "no demonstrations at all". No data-collection arms race,the dominant humanoid-locomotion recipe is tracking: imitate mocap/retargeted-human reference trajectories. The robot self-generates goals from its own exploration and learns from a progress reward, needing zero reference motion data. Everybody else is fighting over data acquisition, while this team just teleports out of the race entirely (inb4 "competition is for losers 💀 ). This strategy reminds me of the DeepSeek playbook applied to robots: open-source the whole stack to become the global default and commoditize everyone else. RoboParty is giving away hardware and now control software (UFO) to be the Android of humanoids. Yet another reason for the US to ban Chinese open models perhaps 🥶 ? What I also really like about this approach is the cross-embodiment infrastructure, one framework trains Unitree G1/H1, RoboParty RP0/RP1, and AgiBot X2 with automatic configuration conversion. Just like Physical Intelligence, RoboParty seems to place itself as a neutral hardware agnostic middle man. Also woth mentioning: their ability ot perform stable skill injection, e.g. adding a cartwheel without forgetting how to walk. A common failure of RL humanoid policies is that teaching a new agile skill destabilizes the existing ones (catastrophic forgetting). UFO claims you can inject rare motions (cartwheel) without collapsing learned behavior. If it holds, that's a significant incremental/continual skill-learning! But again, I have to underline it: no arXiv, no external validation, no success-rate numbers. -> robotics badely needs an independent unbiased evaluator imho. Still, look at that cool demo: robot is getting kicked and pushed around (serious disturbance) during teleoperation (controlled the person at the back wearing the VR headset), and still managed to always get back up. This is some serious demonstration of stability and robustness!
0:49

New framework: Kick down your robot, it will get back up every time 🥋 Chinese startup RoboParty is a Beijing startup founded April 2025 by Huang Yi, originally shipping ROBOTO ORIGIN, the world's first full-stack open-source bipedal humanoid. They released UFO: Unsupervised Reinforcement Learning Framework for Humanoid Control. DEFINITIONS -> what differs is where the learning signal comes from: - SUPERVISED: humans supply the right answers (labels), the model imitates them. - UNSUPERVISED: no answer key, the model finds structure in raw data on its own. - REINFORCEMENT LEARNING: no answer key either, the model tries things and a reward scores each attempt. → UNSUPERVISED RL: trial and error where the agent invents its own rewards, instead of engineers hand-writing one per task. REPRESENTATION LEARNING: compress raw states into a useful internal map. TEMPORAL DISTANCE: distance on that map is "how many steps from A to B." CONTRASTIVE: trained by pulling together what's close in time, pushing apart what isn't. -> CONTRASTIVE TEMPORAL-DISTANCE REPRESENTATION LEARNING: the model builds an internal map of body states where distance means how many steps it takes to get from one to another. It is trained by contrast: states that occur close together in a movement get pulled together in the map, randomly paired states get pushed apart. UFO is an open-source training framework that teaches humanoid robots skills, like getting up, walking, goal-reaching, teleoperation, without reference motions -> no motion-capture or human-video demonstrations to imitate. Its core is TeCH, a contrastive temporal-distance representation-learning algorithm: the robot explores, builds pseudo-goals by temporal rolling, and learns goal-conditioned policies from a single unified progress reward. One framework trains five different robots (Unitree G1/H1, RoboParty RP0/RP1, AgiBot X2) with automatic config conversion in ~2–3 hours per robot! The real novelty here "no demonstrations at all". No data-collection arms race,the dominant humanoid-locomotion recipe is tracking: imitate mocap/retargeted-human reference trajectories. The robot self-generates goals from its own exploration and learns from a progress reward, needing zero reference motion data. Everybody else is fighting over data acquisition, while this team just teleports out of the race entirely (inb4 "competition is for losers 💀 ). This strategy reminds me of the DeepSeek playbook applied to robots: open-source the whole stack to become the global default and commoditize everyone else. RoboParty is giving away hardware and now control software (UFO) to be the Android of humanoids. Yet another reason for the US to ban Chinese open models perhaps 🥶 ? What I also really like about this approach is the cross-embodiment infrastructure, one framework trains Unitree G1/H1, RoboParty RP0/RP1, and AgiBot X2 with automatic configuration conversion. Just like Physical Intelligence, RoboParty seems to place itself as a neutral hardware agnostic middle man. Also woth mentioning: their ability ot perform stable skill injection, e.g. adding a cartwheel without forgetting how to walk. A common failure of RL humanoid policies is that teaching a new agile skill destabilizes the existing ones (catastrophic forgetting). UFO claims you can inject rare motions (cartwheel) without collapsing learned behavior. If it holds, that's a significant incremental/continual skill-learning! But again, I have to underline it: no arXiv, no external validation, no success-rate numbers. -> robotics badely needs an independent unbiased evaluator imho. Still, look at that cool demo: robot is getting kicked and pushed around (serious disturbance) during teleoperation (controlled the person at the back wearing the VR headset), and still managed to always get back up. This is some serious demonstration of stability and robustness!

Léo

35,855 Aufrufe • vor 22 Tagen

Robots are getting smarter, but most still fail the same way. They don’t learn from their own mistakes. A new paper proposes something different: a way for robots to self-improve directly from their failures in the real world. It’s called PLD (Probe, Learn, Distill). The idea: instead of collecting endless human demos, let the robot figure out where it fails, learn how to recover, and then distill that knowledge back into its main model. Key takeaways from the research: ✅ Uses residual reinforcement learning to recover from policy failures ✅ Achieves 99% success on LIBERO and 100% on real Franka and YAM arms ✅ Runs hour-long manipulation tasks without human resets ✅ Builds a feedback loop between real-world data and model adaptation Unlike supervised fine-tuning, which relies on humans, PLD learns from the robot’s own experience. By training on its own failure distribution, the model becomes both more efficient and more aligned with the real world. It’s not just a technical shift, it’s a step toward robots that improve themselves through real-world practice. Thanks for sharing, Wenli Xiao !! Paper and demos: —- Weekly robotics and AI insights. Subscribe free:
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Robots are getting smarter, but most still fail the same way. They don’t learn from their own mistakes. A new paper proposes something different: a way for robots to self-improve directly from their failures in the real world. It’s called PLD (Probe, Learn, Distill). The idea: instead of collecting endless human demos, let the robot figure out where it fails, learn how to recover, and then distill that knowledge back into its main model. Key takeaways from the research: ✅ Uses residual reinforcement learning to recover from policy failures ✅ Achieves 99% success on LIBERO and 100% on real Franka and YAM arms ✅ Runs hour-long manipulation tasks without human resets ✅ Builds a feedback loop between real-world data and model adaptation Unlike supervised fine-tuning, which relies on humans, PLD learns from the robot’s own experience. By training on its own failure distribution, the model becomes both more efficient and more aligned with the real world. It’s not just a technical shift, it’s a step toward robots that improve themselves through real-world practice. Thanks for sharing, Wenli Xiao !! Paper and demos: —- Weekly robotics and AI insights. Subscribe free:

Ilir Aliu

22,872 Aufrufe • vor 9 Monaten