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Debug ROS 2 transforms in Rerun 💡 ROS 2’s tf2 gives robotics teams a shared language for tracking coordinate frames over time — transforming data between things like camera_link and base_link. Rerun supports the same idea with named transforms, letting you decouple spatial relationships from your entity hierarchy. This...

15,982 просмотров • 6 месяцев назад •via X (Twitter)

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Love and Deepspace | Rerun Event Preview The 5-Star Rate UP Pool [Everlasting Dream] Limited-Time Rerun will start soon! "Since you seem to know everything, you should enlighten me." 💫Event Duration: From 05:00 on Nov. 13 to 04:59 on Nov. 20 (Server Time) 💫The 5-Star Rate UP Pool [Everlasting Dream] Limited-Time Rerun Event 1. During the event, make a wish with [Deepspace Wish] or [Time Wish: Limited] to participate in the wish event. The drop rate of the event-limited 5-Star Memory [Xavier: Heartstring Symphony] will go up drastically. 2. After the event ends, this limited 5-Star Memory will not be obtainable through other means and will not enter the permanent Wish Pool: Xspace Echo. 3. All Rerun Wish Pools share one pity system. A 5-Star Memory is guaranteed within a specific attempt of wishes. If the 5-Star Memory you've obtained from the Rerun Wish Pool is not the event-limited Memory, you will obtain the event-limited Memory the next time you obtain a 5-Star Memory. The pity count from the last Rerun Wish Pool can be applied to this Rerun Wish Pool, and the pity count in this Rerun Wish Pool will also be applied to the upcoming Rerun Wish Pool. *You can read more about the event on the in-game rules page. 🎁New Packs During the event, the Rerun event-exclusive [Dreamheart Pack] series, which includes [Time Wish: Limited] and other materials, will be available in Shop. Notes: 1. [Time Wish: Limited] can be used in 5-Star Memory Wish Pool Rerun and will be used first when you make a wish. 2. After the event ends, [Time Wish: Limited] will automatically convert to Empyrean Wish. ——— 🪐Official Discord: #LoveandDeepspace #Xavier

Love and Deepspace

269,916 просмотров • 8 месяцев назад

Most people think Rerun is a visualization tool. In reality, it's a database masquerading as a visualizer. I wanted to showcase this functionality by building a full data pipeline consisting of: ingestion → baseline method → eval → finetuning for SLAM on egocentric data. I'll eventually extend this to the rest of my ego/exo datasets, but I wanted to start with a smaller bunch of datasets first. Rerun allows you to expose your saved .rrd files to a catalog where you store datasets. You can query, filter, and join them like any database using DataFusion under the hood. These are the same .rrd files that are automatically generated whenever you visualize anything in Rerun and decide to save it to disk. I brought in 109 VSLAM-LAB sequences across 14 datasets into the Rerun catalog as an example. These include 7Scenes, Euroc, eth3d, and others. Now I can query them with segment_table, filter_segments, and filter_contents instead of parsing CSVs and YAML files. With a strong set of ground-truth datasets for SLAM, baseline additions become nearly automatic with agents like Opus/Codex. This unification of data and visualization is imo the largest missing part for Physical AI. Visualization becomes a natural byproduct of having your data properly structured and queryable. The catalog API is what makes it a database, not just a viewer. I initially focused on VSLAM-LAB data, but I'll migrate all the egoexo data to this format in the coming days to really show just how useful this is.

Pablo Vela

34,937 просмотров • 3 месяцев назад

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Love and Deepspace

187,156 просмотров • 11 месяцев назад

Love and Deepspace | 2024 Xavier's Birthday Event [Celestial Message] Memory & Outfit Rerun is Coming Soon! 🍰Event Duration: From 05:00 on Oct. 11 to 04:59 on Oct. 18 (server time) 🍰Galaxy Dance: Xavier's Birthday Memory Rerun 1. During the event, make a wish with [Deepspace Wish] or [Time Wish: Limited], the drop rate of the Limited 5-Star Memory [Xavier: Celestial Message] will go up drastically. 2. After the event ends, this Limited 5-Star Memory will not be obtainable through other means and will not enter the permanent Wish Pool: Xspace Echo. 3. The wish event features a pity system, and the rule is shared among all Reruns. The wish attempts made in this rerun event will be counted in all Reruns. *You can read more about the event on the in-game rules page. 🎁New Packs During the event, the Rerun event-exclusive [Mornwish Pack] series, which includes [Time Wish: Limited] and other materials, will be available in Shop at special prices. Tips: 1. [Time Wish: Limited] can be used in 5-Star Memory Wish Pool Rerun and will be used first when you make a wish. 2. After the event, [Time Wish: Limited] will automatically convert to Empyrean Wish. 🍰[Timeless Days] Memory & Outfit Reward Rerun 2024 birthday-exclusive 3-Star Memory [Xavier: Unfading Wish] and Daily Outfit [Xavier: Starry Night Dance] will be available in Starry Shop. You can use the event item [Starward Reel] to redeem rewards. ——— 🪐Official Discord: #LoveandDeepspace #Xavier #HBDXavier

Love and Deepspace

172,577 просмотров • 9 месяцев назад

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Love and Deepspace

860,571 просмотров • 1 год назад

How can you solve complex tasks using a Large Language Model? Here is a 2-minute introduction to everything you need to know to 10x the quality of your results. Let's talk about three techniques, in order of complexity, starting with the easiest one: • In-Context Learning • Indexing + In-Context Learning • Fine-tuning In-Context Learning The team that trained GPT-3 found something they couldn't explain: You can condition a model using examples of how you want it to behave. I included an example prompt in the attached video. You can "teach" the model how you want it to interpret questions, select the correct answers, and format the results by giving a few examples. You can also give specific knowledge to the model that will be helpful when formulating answers. We call this approach "grounding the model." There's another example in the video. Indexing + In-Context Learning Unfortunately, there is a limit to how much data you can include in a prompt. We call this the "context size." One version of GPT-4 supports a context of approximately 6,000 words, while the other supports 25,000 words. Although this sounds like a lot, many applications need more than that. Imagine you wrote a book and want to build an application to answer any questions about your story. What happens if your book is longer than the context? That's where Indexing comes in. Using a model, you can turn every book passage into an embedding. These are vectors, numbers that "encode" the passage's text. You can then store these embeddings in a particular database that supports fast retrieval of these vectors. You can then turn any question into an embedding and search the database for the list of passages that are similar to that query. Instead of using the entire book to ask the model, you can now use the relevant passages as in-context information, effectively working around the context size limitation. Fine-tuning Fine-tuning can give you an extra boost to get reliable outputs from your LLM. It is, however, the most complex approach on the list. There are different approaches to fine-tuning a model with your data. A popular technique is to process your data with your LLM and use the outputs to train a new classifier that solves your specific task. Notice that here you aren't modifying the LLM. Instead, you are chaining it with your trained classifier. Another approach is to modify the parameters of the LLM using your data. Think of this as "rewiring" the model in a way that solves your particular task. The results and costs will vary depending on how many layers you want to fine-tune from the original model. Many companies think that fine-tuning is the solution to their problems. In my experience, many will benefit from exploring the other two approaches. I love explaining Machine Learning and Artificial Intelligence ideas. If you enjoy in-depth content like this, follow me Santiago so you don't miss what comes next.

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Manish Kumar Shah

33,734 просмотров • 1 год назад

There's been a few cool updates recently. In particular, Rerun 0.33 released headless rendering. This, along with the Fable 5 release pushed me to work torwards making MAMMA realtime! I threw Fable at the problem, and it was able to take original implementation that was ~12 seconds / frame and get it all the way down to 40ms /frame, or nearly a 300x speedup 🏎️ How did I achieve this? TLDR: - Use rerun's headless rendering as supervision when optimizing - Save rrd file as test fixture to guide model optiziation with /goal - create an html artifact with headless rendering to provide detailed breakdown of what it did and how it actually looks like in the viewer There were a few critical bits to make sure that this ACTUALLY worked and that Fable didn't just cheat or delete something and declare victory. The first is that the original version used Rerun, this allowed us to save things to disk as an RRD file, meaning we could query the contents and use this as a sort of test fixture or golden artifact that held EXACTLY what all of the values should be. Then we can use this with /goal as a metric when doing the optimization to ensure there are no regressions. The second bit is the headless rendering, this gave us the ability to check that not only did the test fixture pass, but it also looked visually correct. This made a huge difference, and an awesome side affect of it is that we can use the headless rendering to create an implementations.html file. This gives a visual guide as to what the agent did (I walk through it in the video below) Along with this, we're working on an MCP server for rerun that allows full interactivity with the rerun viewer for your agent. So for example the agent can click, drag, move views, scroll timelines, ect. I used this to help the agent debug certain parts such as when the 2d sam masks didn't line up, or if the triangulated keypoints werent correctly matching with the optimized mesh. The agents could go, click into the view, scroll through the timeline and see where things went wrong. Fable + Headless Rendering + Rerun MCP == 300x speedup in less then a days work With these new tools, I'm planning on going back to my gaussian splatting implemntation and cleaning it up + making it fast!

Pablo Vela

22,880 просмотров • 1 месяц назад

I've been wanting proper Gaussian Splatting support in Rerun for the longest time. I had previously vibe-coded a custom view that kind of worked before, but it had some wonky bugs and was still too rough around the edges. This was originally done back in the Codex 5.4 era, and as you can imagine alot has changed. So I decided to revisit the implementation because of the following: - Rerun 0.34 release brought us MCP support for the rerun viewer. This means an agent can take screenshots, interact with the viewer, rotate 3d spatial components, and open/close views. Basically, anything you can do in the rerun viewer, an agent can now do, closing the loop on debugging. - Significantly stronger models have been released from both Anthropic and OpenAI. Fabel and Codex 5.6 Sol should make this implementation both cleaner and more performant, as well as find the previous bugs 5.4 couldn't - Harnesses have gotten much, much better since I first worked on this. HTML artifacts + /goal have made implementation + review much easier. I actively have Fabel in the driver's seat while 5.6 does mechanical code work + review after the fact. Thanks to the combination above, I was able to improve the custom Rust view to be lots better and fix most of the wonky bugs. Along with this everything should now use proper GPU rendering with no CPU fallbacks. I also wanted to make sure I could visualize training so I went ahead and integrated it with the wonderful brush since it works on Mac as well. With this proved out, we're also working on getting official Gaussian Splatting support as a proper archetype on the normal rerun distribution. This should be a great foundation to build all of the other esoteric representations (2DGS/4DGS/Triangle Splatting/whatever else you want)! I can finally log the full splat training run and move forward and backwards in time to see how the optimization went at different timesteps! Given powerful agents, the rerun mcp client, and a good harness, there's literally never been a better time to build.

Pablo Vela

18,675 просмотров • 24 дней назад