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Autoregressive diffusion models drift for long videos? 📉 We fixed it.🚀 Speed + Stability = ✅ Meeting *Test-Time Correction (TTC)*. We stop error accumulation in its tracks without any retraining. ✅ Training-free ✅ 1 minute+ stable generation ✅ Negligible overhead

16,460 просмотров • 4 месяцев назад •via X (Twitter)

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A team tested Pi0, Pi0 Fast, Gr00t, and ACT on real robot arms in manufacturing tasks. (🔖 Bookmark this for later!) The task was precise: place thin rectangular frames from a messy stack into a holder. The team fine-tuned each model on 100 real trajectories and compared training time, inference speed, motion quality, and success rates. ⬇️ Here’s a breakdown of what they found Pi0 (Original) ✅ Strongest overall performance in precise pick-and-place ✅ High success rate even in edge cases ✅ Longest training time (~11 hours, ~$30 per run) ✅ Inference time of 80 ms causes short pauses between actions Despite delays, it handles complex scenarios well… solid for high-precision tasks, but slow to train. Gr00t ✅ Trains fast (~2 hours, ~$5 per run) ✅ Performs almost as well as Pi0 on large-object tasks ✅ Struggles with fine precision; random movement in some trials ✅ More training didn’t fix jitter or random offsets Best suited for tasks where exact precision isn’t critical. Not ready for manufacturing-grade accuracy without more tuning. Pi0 Fast ✅ Promised faster training, but results were underwhelming ✅ Training at 6 hours still showed low success rates ✅ Inference was slower than expected ✅ Not reliable for generalizing even slightly new tasks Currently too unstable for real-world deployment. Doesn’t live up to the “Fast” name yet. ACT (Baseline) ✅ 200MB model—lightweight, but limited ✅ Struggles with stacked objects or ambiguous scenes ✅ Success rates around 70% in best-case setups ✅ Can’t match newer models on precision or generalization Still a solid baseline, but clearly a generation behind in robustness. 🚨 Extra Notes All newer models share a common issue: •Inference takes longer than a frame (80 ms vs 33 ms), so robots “pause” between chunks. •This results in jittery movements, but not a dealbreaker unless tasks are time-sensitive. Language-conditioned tasks also fell short: after training on two labeled tasks, the model couldn’t generalize to a third unseen combination using only text prompts. ✅ The good news? These models adapt well to new robot arms with quick fine-tuning. ❌ The bad news? There’s still no plug-and-play solution for improving performance after deployment. Reinforcement learning or DAgger-style data collection during real-world operation may be the next big step, something many teams in robotics are actively working on.

Ilir Aliu

21,844 просмотров • 1 год назад

I’m thrilled to announce that we just released GraspGen, a multi-year project we have been cooking at NVIDIA Robotics 🚀 GraspGen: A Diffusion-Based Framework for 6-DOF Grasping Grasping is a foundational challenge in robotics 🤖 — whether for industrial picking or general-purpose humanoids. VLA + real data collection is all the rage now but is expensive and scales poorly for this task. For every new gripper and/or scene, you’ll have to recollect the dataset in this paradigm for the best perf. 💡Key Idea: Since grasping is such a well-defined task in simulation - why can’t we just scale synthetic data generation and train a generative model for grasping? By embracing modularity and standardized grasp formats, we can make this a turnkey technology that works zero-shot for multiple settings. GraspGen is a modular framework for diffusion-based 6-DOF grasp generation that scales across embodiment types, observability conditions, clutter, task complexity. Key Features: ✅ Multi-embodiment support: suction, parallel-jaw, and multi-fingered grippers ✅ Generalization to partial + complete 3D point clouds ✅ Generalization to single-objects + cluttered scenes ✅ Modular design uses other robotics modules and foundation models (SAM2, cuRobo, FoundationStereo, FoundationPose). This allows GraspGen to focus on only one thing - grasp generation ✅ Training recipe: grasp discriminator is trained with On-Generator data from the diffusion model - so that it learns to correct the mistakes (if any) of the diffusion generator ✅ Real-time performance (~20 Hz) before any GPU acceleration; low memory footprint 📊 Results: • SOTA on the FetchBench [Han et al. CoRL 2024] benchmark • Zero-shot sim-to-real transfer on unknown objects and cluttered scenes • Dataset of 53M simulated grasps across 8K objects from Objaverse 📄 arXiv: 🌐 Website: 💻 Code: A huge thank you to everyone involved in this journey — excited to see what the community builds on top of it! Joint work with Clemens Eppner , Balakumar Sundaralingam , Yu-Wei, Jun Yamada Wentao Yuan and other collaborators #robotics #diffusionmodels #physicalAI #simtoreal

Adithya Murali

24,106 просмотров • 1 год назад

#ATXCouncil When I was elected to serve a half term two years ago, there was a very clear sense in this community that city government had lost the plot. It was clear that dramatic action was necessary - and dramatic action is exactly what we delivered. Over the past 24 months: ✅ We rebuilt our city management team ✅ We made historic changes to our land development code and streamlined our development review process to help create more - and more affordable - housing ✅ We launched a different economic development paradigm focused on new job training programs, like the Infrastructure Academy, to help Austinites build high-wage careers, even without a 4-year degree ✅ We took a new approach to fighting homelessness, which promises real results ✅ We adopted a new energy generation plan that delivers reliability and affordability while reducing the emissions that threaten our climate and air quality ✅ We transformed our 911 emergency system from a system that fell well below national standards to one that, in 2024, met those standards throughout ✅ We signed a new contract with our police officers that lays the groundwork to improve public safety across the board. In short … we got stuff done at City Hall. And I think Austin voters saw it, and liked it, and want more of it. They saw stable government getting results. And they want more. Watch the 2025 Austin City Council Inauguration Ceremony Live:

Mayor Kirk Watson

39,172 просмотров • 1 год назад

🚨 Keith Neumeyer: This Silver Rally is DIFFERENT WHY THIS SILVER RALLY IS DIFFERENT ✅ 2011 move: "Paper-driven short covering" ✅ 2024 move: "ALL PHYSICAL demand driven" ✅ "People waking up to silver as critical mineral" ✅ "This metal is required for everything - we can't travel, drive, or operate homes without it" THE STRUCTURAL DEFICIT REALITY ✅ 5 consecutive years of silver deficits ✅ Total deficit: ~1 BILLION ounces over 5 years ✅ Mine production: 850M oz/year | Consumption: 1.2B oz/year ✅ "These ounces are coming from investment hoards - that will end" WHY MINERS CAN'T SAVE US ✅ "Takes 3 years to drive tunnels to new discoveries" ✅ Mill upgrades require "years of work" ✅ No major silver mines coming online ✅ "We're not going to solve this at $50 silver" NEW DEMAND DRIVERS EMERGING ✅ India: 75M ounces imported recently ✅ AI data centers: "How are you going to build them without silver?" ✅ Nuclear renaissance: 30+ plants planned - all require silver PRICE PREDICTION & OUTLOOK ✅ "We're destined to go through new highs" ✅ "Wouldn't be surprised at $60-65 by year-end" ✅ Previous $40 prediction already shattered ✅ "This correction is healthy - settling before next leg up" According to one of silver's most respected CEOs, we're in a fundamentally different bull market driven by physical consumption that miners simply cannot meet - and the structural deficit means higher prices are inevitable, not speculative. HT: Kai Hoffmann Keith Neumeyer First Majestic #Silver #KeithNeumeyer #FirstMajestic #SilverSqueeze #PhysicalSilver #SupplyDeficit #Mining #CriticalMinerals #Investing

Mark

82,890 просмотров • 8 месяцев назад