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Here’s something you didn’t know LLMs can do – reconstruct articulated objects! Introducing Real2Code – our new real2sim approach that scalably reconstructs complex, multi-part articulated objects.

Mandi Zhao

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91,867 Aufrufe • vor 2 Jahren •via X (Twitter)

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It pains me to know that the belief is that a therapist role is to "validate". I do not validate. If you are with me in a clinical setting and what you're saying doesn't make any damn sense, I'm going to have you walk me through it. What I've discovered is that a lot of the dysfunction people have is that they've never articulated their beliefs and so have no idea how absurd they are. Simply going through the exercise of having to explain yourself can be deeply rewarding. It's something we call "accountability". You literally account for yourself. Sure, I've had some female clients chimp out and flee never to be seen again at their first contact with a mirror. I've had many others weep openly that actually being held psychologically. One I will never get out of my mind was a wonderful 30-something year old woman who cried and said, "I have been in therapy for 7 years. Why has nobody ever challenged me and help me see that I'm the one causing all this shit?" That's an important question. And it's crucial that if you see a therapist, you don't see a charlatan. You can tell the good ones by their headgear.

The People's Therapist 👏Expert👏

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TheNewPhysics

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Is your toddler suddenly throwing (or dropping) everything they get their hands on? Food, toys… you name it. You’re not alone. This week I’ve been introducing play schemas, 9 common patterns that can help to demystify your toddler’s seemingly random behaviors. And you guessed it: this is one. We call it the trajectory schema. If you take nothing else away from this post, let it be this: your little one doesn’t throw things because they are misbehaving or “bad.” Babies throw things because they are babies. And they are learning as they do so. Learning about cause and effect. Learning about gravity. Learning what (and practicing something new) they can do with their bodies. Learning hand-eye coordination. It’s a completely normal part of development. And the fascination won’t last forever. The real question is, how do you manage it? First, be proactive. Expect that anything your little one handles might reasonably be thrown or dropped. So choose wisely, avoiding items that are valuable or might pose a danger to them or others if they suddenly took flight. Second, depending on the age of your child, begin introducing some natural consequences. Put the toy/object away temporarily after it is thrown (if throwing it is dangerous or inappropriate). And involve your child in the subsequent clean-up. You can also redirect. Explain which things are and are not for throwing. Model the correct use of these objects. Finally, lean into it. Recognizing that young children are drawn to throwing, provide items that are safe and acceptable to throw. Soft toys. Socks. Balls. And look for opportunities and settings for your little one to explore this urge safely and appropriately. How did you manage your toddler’s throwing phase? Welcome your tips and tricks! This sweet little throwing machine was posted to TT by kristinnicole122.

Dan Wuori

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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

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

Shreyas Gite

34,863 Aufrufe • vor 1 Jahr

"Look at the dust on the road to your temple. Drive there next Saturday. Walk the last mile if you can. Approach it the way the early Saints approached Kirtland. On foot, in the open air, with time to reflect on what you are about to do. The modern temple experience has been engineered for convenience. The parking lot is right there. The locker room is right there. The session begins at a posted time and ends at a posted time and you are out and on with your day. This convenience is mercy. The Brethren have made the temple accessible to a busy people, and the accessibility is itself a gift. But the convenience has cost us something. The early Saints walked. They walked from Far West to Kirtland for the dedication. They walked from Nauvoo to the unfinished temple on the hill. They walked from their wagon trains to the Endowment House in the valley. The walking was preparation. By the time they crossed the threshold, they had already left the world behind in their bodies, in their feet, in their breath. They arrived primed for the encounter. You will not walk a thousand miles. You can walk a mile. You can fast that morning. You can sit in the car for fifteen minutes before going in, with no phone, doing nothing but settling your spirit. You can treat the approach to the temple as part of the temple, the way they did. The temple has not been diminished by our convenience, but our reception of it has been. Restore the approach. Make the journey, however short, into something that prepares you. The temple will then meet you with a fullness it cannot give to someone who walks in distracted."

"Look at the dust on the road to your temple. Drive there next Saturday. Walk the last mile if you can. Approach it the way the early Saints approached Kirtland. On foot, in the open air, with time to reflect on what you are about to do. The modern temple experience has been engineered for convenience. The parking lot is right there. The locker room is right there. The session begins at a posted time and ends at a posted time and you are out and on with your day. This convenience is mercy. The Brethren have made the temple accessible to a busy people, and the accessibility is itself a gift. But the convenience has cost us something. The early Saints walked. They walked from Far West to Kirtland for the dedication. They walked from Nauvoo to the unfinished temple on the hill. They walked from their wagon trains to the Endowment House in the valley. The walking was preparation. By the time they crossed the threshold, they had already left the world behind in their bodies, in their feet, in their breath. They arrived primed for the encounter. You will not walk a thousand miles. You can walk a mile. You can fast that morning. You can sit in the car for fifteen minutes before going in, with no phone, doing nothing but settling your spirit. You can treat the approach to the temple as part of the temple, the way they did. The temple has not been diminished by our convenience, but our reception of it has been. Restore the approach. Make the journey, however short, into something that prepares you. The temple will then meet you with a fullness it cannot give to someone who walks in distracted."

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