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Gemini-powered robot can now effectively debug itself! I've been obsessed with two main questions in robotics: can robots learn from their own mistakes without humans in the loop, and how much can we leverage synthetic data? Spoiler: yes, and it's surprisingly elegant once you have the right primitives in...

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Shreyas Gite

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47,245 次观看 • 1 年前 •via X (Twitter)

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Pi0 vs. ACT with BBox conditioning 🟦 Not many know you can push ACT to *almost-Pi0* generalisation by conditioning on bounding boxes (BBoxes). How is the training data collected? • Generate BBoxes for all pick-and-place objects in the scene.(I used Gemini) • Pick-and-place targets are selected randomly. • Add the BBox coordinates to the robot’s state. • Overlay the BBoxes in the visualisation so you know what to grab and where to drop. During inference: • Generate BBoxes for every object again. • Click the object you want to pick and its target spot; those BBoxes get added to the robot state. • Let the robot do the work for you 😃 Setup: - Trained ACT for 100k steps and fine-tuned Pi0 for only 20k. - Training data is 60 episodes and had *only* LEGO bricks. - Using single front camera (Laptop in this case) Got the idea from xun in LeRobot discord. Here’s ACT vs Pi0 on a toy car that isn’t in the dataset. 1/3
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Pi0 vs. ACT with BBox conditioning 🟦 Not many know you can push ACT to *almost-Pi0* generalisation by conditioning on bounding boxes (BBoxes). How is the training data collected? • Generate BBoxes for all pick-and-place objects in the scene.(I used Gemini) • Pick-and-place targets are selected randomly. • Add the BBox coordinates to the robot’s state. • Overlay the BBoxes in the visualisation so you know what to grab and where to drop. During inference: • Generate BBoxes for every object again. • Click the object you want to pick and its target spot; those BBoxes get added to the robot state. • Let the robot do the work for you 😃 Setup: - Trained ACT for 100k steps and fine-tuned Pi0 for only 20k. - Training data is 60 episodes and had *only* LEGO bricks. - Using single front camera (Laptop in this case) Got the idea from xun in LeRobot discord. Here’s ACT vs Pi0 on a toy car that isn’t in the dataset. 1/3

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🆕 Gemini in #GoogleSheets can now generate charts & graphs to visualize data. You can also ask Gemini questions to glean insights & understand important patterns in your data. This is currently rolling out for Workspace Labs & Alpha users →
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