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Everyone in Embodied AI is talking about Vision-Language-Action (VLA) models. Almost no one is talking about the physical nightmare of collecting the data to train them. You can't scrape a kitchen table or a warehouse shelf from a web browser. To get to millions of hours of diverse, real-world...

26,385 次观看 • 2 个月前 •via X (Twitter)

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Exciting updates on Project GR00T! We discover a systematic way to scale up robot data, tackling the most painful pain point in robotics. The idea is simple: human collects demonstration on a real robot, and we multiply that data 1000x or more in simulation. Let’s break it down: 1. We use Apple Vision Pro (yes!!) to give the human operator first person control of the humanoid. Vision Pro parses human hand pose and retargets the motion to the robot hand, all in real time. From the human’s point of view, they are immersed in another body like the Avatar. Teleoperation is slow and time-consuming, but we can afford to collect a small amount of data. 2. We use RoboCasa, a generative simulation framework, to multiply the demonstration data by varying the visual appearance and layout of the environment. In Jensen’s keynote video below, the humanoid is now placing the cup in hundreds of kitchens with a huge diversity of textures, furniture, and object placement. We only have 1 physical kitchen at the GEAR Lab in NVIDIA HQ, but we can conjure up infinite ones in simulation. 3. Finally, we apply MimicGen, a technique to multiply the above data even more by varying the *motion* of the robot. MimicGen generates vast number of new action trajectories based on the original human data, and filters out failed ones (e.g. those that drop the cup) to form a much larger dataset. To sum up, given 1 human trajectory with Vision Pro -> RoboCasa produces N (varying visuals) -> MimicGen further augments to NxM (varying motions). This is the way to trade compute for expensive human data by GPU-accelerated simulation. A while ago, I mentioned that teleoperation is fundamentally not scalable, because we are always limited by 24 hrs/robot/day in the world of atoms. Our new GR00T synthetic data pipeline breaks this barrier in the world of bits. Scaling has been so much fun for LLMs, and it's finally our turn to have fun in robotics! We are building tools to enable everyone in the ecosystem to scale up with us. Links in thread:

Jim Fan

364,514 次观看 • 2 年前

Physics-based Motion Retargeting from Sparse Inputs paper page: Avatars are important to create interactive and immersive experiences in virtual worlds. One challenge in animating these characters to mimic a user's motion is that commercial AR/VR products consist only of a headset and controllers, providing very limited sensor data of the user's pose. Another challenge is that an avatar might have a different skeleton structure than a human and the mapping between them is unclear. In this work we address both of these challenges. We introduce a method to retarget motions in real-time from sparse human sensor data to characters of various morphologies. Our method uses reinforcement learning to train a policy to control characters in a physics simulator. We only require human motion capture data for training, without relying on artist-generated animations for each avatar. This allows us to use large motion capture datasets to train general policies that can track unseen users from real and sparse data in real-time. We demonstrate the feasibility of our approach on three characters with different skeleton structure: a dinosaur, a mouse-like creature and a human. We show that the avatar poses often match the user surprisingly well, despite having no sensor information of the lower body available. We discuss and ablate the important components in our framework, specifically the kinematic retargeting step, the imitation, contact and action reward as well as our asymmetric actor-critic observations. We further explore the robustness of our method in a variety of settings including unbalancing, dancing and sports motions.

AK

106,527 次观看 • 3 年前

We just launched a major new Data Engineering Professional Certificate on Coursera! Data underlies all modern AI systems, and engineers who know how to build systems to store and serve it are in high demand. If you're interested in learning this skill, please check out this 4-course sequence, which is designed to make you job-ready to be a Data Engineer. This is a new specialization taught by Joe Reis, the co-author of the best-selling book “Fundamentals of Data Engineering," in collaboration with AWS. (Disclosure, I serve on Amazon's board.) For many AI systems, data engineering is 80% of the work, and modeling is 20%. But people’s attention on these two topics is often flipped. This makes the job of the data engineer particularly important. In this professional certificate, you'll learn foundational data engineering skills while implementing modern data architectures using open-source tools: - Learn the key steps of the data lifecycle, to generate, ingest, store, transform, and serve data. - Learn to align with organizational goals to design the data pipeline right for your business' needs. - Understand how to make necessary trade-offs between speed, scalability, security, and cost. Joe has distilled into this specialization decades of experience helping startups and large companies with data infrastructure. He is also joined by 17 other industry leaders in the data field, who will help you learn in-demand skills for the growing field of data engineering. Please sign up here:

Andrew Ng

118,937 次观看 • 1 年前

New PNAS paper. Historical GDP per capita data is scarce, but data on the places of birth, death, and occupations of famous individuals is abundant. In this paper we estimate the historical GDP per capita of hundreds of regions in Europe and North America using a machine learning model that leveraged data on about 500k famous biographies. Our estimates more-or-less quadruple the availability of historical GDP per capita estimates for the last 700 years. So why use biographies to augment historical GDP per capita data? Biographical data contains information about people who might have contributed directly to economic growth, like James Watt, or that were attracted to wealthy places looking for patrons, like Michelangelo. So we--mainly Philipp (Philipp Koch)--used this data to construct hundreds of features describing each European region. Then, we trained a machine learning model to find the features that explained most of the variance in a cross-validation test, where we split regions multiple times into a training set and a test set. On average, the model explained about 90% of the variance in GDP per capita of the regions it had not seen during training. But we wanted to go further, and Philipp really went to town by looking at different ways to validate our estimates. We found our estimates correlate positively with historical measures of wellbeing, church building activity, urbanization, and body height. We also used these measures to reproduce the basic Atlantic trade result of Acemoglu, Johnson, and Robison and to explore the economic consequences of the famous Lisbon earthquake of 1755. But what I personally loved most about this project, other than working with Philipp Koch and V, is that it shows that we can use machine learning methods not only to explore the future, but the past. There is a bright and growing future in the use of machine learning for economic history. Hope you enjoy the paper and the data. You can find links to the paper and a data exploration tool in the first comment.

César A. Hidalgo

54,332 次观看 • 1 年前

DAVID SACKS ON THE AI RACE: "The US is currently in an AI race, and our chief global competition is China, obviously. They're the only other country that has the talent, the resources, and the technology expertise to basically beat us in AI. And I think whoever wins this AI race, that's going to have tremendous ramifications for both our economy and our national security. Clearly, we want the US to be the winner, just like we were with the internet, and every other technology revolution before that […] We know that to win this AI race, we have to be the most innovative. You can't regulate your way just to beating your competitor. You have to out-innovate them. And we know that in the United States, the innovation comes from the private sector, not the government. So we have to do everything we can to help our companies win, to help them be innovative, and that means getting a lot of red tape out of the way… We have to have the most AI infrastructure in the US. It has to be the easiest place to build it. All of the new data centers that are going in, they require tremendous power, so getting ahead of the curve on energy, making sure we stand up all of this new infrastructure we're going to need to basically produce these AI factories… We want the US technology stack to dominate globally. We want to be the partner of choice for the whole world… I think everyone in Silicon Valley understands that the way that you win a technology race is to have the biggest ecosystem […] You just want everybody to be building on top of your technology stack, and that's what we want for the United States." David Sacks w/Marc Benioff Dreamforce

Ron Pragides 

231,781 次观看 • 10 个月前

Georgia Power is trying to push a family off their farm via eminent domain for a data center: “I'm fighting for the survival of my cattle farm. I'm here because a massive data center was approved just a couple of miles from my land — and I'm being hounded by Georgia Power for an easement to build transmission lines through my property for the data center.” “I'm a local farmer, not an industrial developer. These 500-kV lines aren't for me. They are for the data centers that the boards and surrounding counties continue to approve. I have mail from lawyers stacking up on my kitchen table, wanting to take my case because they know my land is being targeted for eminent domain — These easements are permanent. They affect my ability to graze my cattle, they lower my property value, and they destroy the rural character of this county forever. This board makes decisions to approve these massive, massive projects, but it's residents like me, young people trying to build a life here, who pay the price. You're voting to turn our farms into a network of high-voltage wires and noisy industrial buildings. I'm asking you to realize the real-world impacts of your votes. Every time you say yes to a data center, you're saying no to a local farmer. We aren't just numbers on a map. We are the future of the county, and right now you're making that future impossible.“ This project impacts more than 330 private properties. Georgia Power says it will negotiate purchases and easements and, if needed, use eminent domain. They claim it's to strengthen the grid for Georgia's rising energy demand from new data centers. The lines are widely linked to Project Sail — a $17 billion hyperscale campus by Prologis, Atlas with 9 massive buildings totaling up to 4.34 million sq ft on 829 acres, demanding hundreds of megawatts, roughly a small city's power. We cannot allow data centers to be prioritized over farmers.

redpillbot

60,418 次观看 • 3 个月前

#NewPaper The first microscope, invented in the 16th century, was designed to unlock the secrets of the microscopic world. Today, as many fields become increasingly data-driven, there is a pressing need for new types of microscopes---tools that help us zoom in, explore, and understand complex data. We call these tools "algorithmic microscopes." Introducing the Vendiscope: The first algorithmic microscope for data collections. 🔬 The Vendiscope maximizes the probability-weighted Vendi Score of a dataset to assign a weight to each element in the collection. This weight represents a data point's contribution to the overall diversity of the collection. These weights enable high-resolution data analysis at scale. We use them to zoom in on datasets across three domains: biology, materials science, & AI. 🧬 Biology: We used the Vendiscope on the protein universe, which contains nearly 250 million proteins. We found that nearly 200 million of the proteins are near-duplicates of each other and that AlphaFold fails on proteins that contribute most to the diversity of the protein universe. (See GIF below). 🪜 Materials Science: We used the Vendiscope on the Materials Project database, which contains 170K materials as of today. We found that 85% of crystals with formation energy data are near-duplicates of each other and that ML models for materials property prediction struggle with materials that contribute most to diversity. 🤖 Artificial Intelligence: We applied the Vendiscope to CIFAR-10, a benchmark dataset containing 50K images. We found duplicates. We applied the Vendiscope to analyze state-of-the-art generative models trained on this dataset. We found the best generative models memorize training data, as is known in the AI literature. However, we can do more with the Vendiscope and characterize the type of samples that get memorized. We found that data points contributing least to diversity are more prone to memorization by these generative models. 🧠 "Our findings demonstrate that the Vendiscope can serve as a powerful tool for data-driven science, providing a systematic and scalable way to identify duplicates and outliers, as well as pinpointing samples prone to memorization and those that models may struggle to predict---even before training." 💫 "The Vendiscope provides a unified framework for analyzing complex data at scale. Researchers, engineers, and data auditors can use the Vendiscope to audit datasets, identify potential biases, and refine data collection practices. For AI ethicists, the Vendiscope offers a critical lens to understand how models interact with data, particularly in the context of bias, memorization, and data fairness, enabling better mitigation strategies to prevent undesirable outcomes in AI deployment. For scientists, the Vendiscope represents a new companion in the discovery process." #VendiScoring #AlgorithmicMicroscopy Link to paper: Authors: Amey Pasarkar (Amey Pasarkar) and Adji Bousso Dieng (@adjiboussodieng)

Vertaix® (AI & Science)

34,762 次观看 • 1 年前

Traditional data pipelines don't work for RAG applications. There are 3 issues with them: ​ 1. Traditional data engineering solutions are optimized to handle structured data. RAG applications rely primarily on unstructured data. ​ 2. The connector ecosystem to load data from unstructured data sources is very immature. ​ 3. Traditional solutions do not offer any way to transform unstructured data into an optimized vector search index. ​ The goal of a RAG Pipeline is to solve these problems. ​ The number one objective is to create a reliable vector search index using factual knowledge and relevant context. This sounds easy, but it's one of the biggest challenges we face when building RAG applications. ​ At a high level, there are four different stages in the architecture of a RAG pipeline: ​ 1. Ingestion: Here is where the pipeline loads the information from the data source. ​ 2. Extraction: Where the pipeline processes the input data and decides how to retrieve the text contained inside them. ​ 3. Transform: Where the pipeline chunks the data and generates document embeddings. ​ 4. Load: Where the pipeline creates a search index in a vector database and loads the document embeddings. ​ There are different rabbit holes at each one of these stages. Here are three of them: ​ 1. Ingesting data once is simple. The hard part is refreshing the vector database whenever the original data source changes. ​ 2. Extracting the content of a plain text document is simple. The hard part is to extract content from complex documents containing tables, images, or cross-references. ​ 3. A simple continual chunking strategy with an overlap is simple. The hard part is to find the optimal strategy for your specific knowledge base and the way you are planning to query it. ​ In the attached video, I'll show you how you can build an enterprise-grade RAG Pipeline that solves every one of the above problems. ​ I'll use Vectorize. They partnered with me on this post. You can use them to build RAG pipelines optimized for accurate context retrieval. ​ ​ If you have a few documents lying around, set up a free account and give it a try.

Santiago

40,625 次观看 • 1 年前