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Instead of choosing between training a world model and training a language conditioned robot policy, why not do both? LDA-1B s a new foundation model that is trained on 30,000 hours of human and robot interaction data. Part of the secret is that LDA-1B jointly learns forward dynamics, action...

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RoboPapers

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16,335 просмотров • 27 дней назад •via X (Twitter)

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Mingtian27 дней назад

Don't choose the name "LDA"

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Teaching robots to perform dexterous manipulation tasks currently requires teleoperation, which limits demonstration quality, speed, and scalability. Instead, why not use human videos? The problem is that a human hand isn’t a robot hand, so data must be retargeted using simulation to resolve issues like collisions and interpenetration when controlling the hand. In VideoManip, Hongyi Chen and co-authors built a system to solve this problem, taking in RGB videos of humans performing manipulation tasks and using them to create accurate simulations with which to learn robot policies. Watch episode #73 of RoboPapers, hosted by Michael Cho - Rbt/Acc and Chris Paxton, now to learn more!
44:20

Teaching robots to perform dexterous manipulation tasks currently requires teleoperation, which limits demonstration quality, speed, and scalability. Instead, why not use human videos? The problem is that a human hand isn’t a robot hand, so data must be retargeted using simulation to resolve issues like collisions and interpenetration when controlling the hand. In VideoManip, Hongyi Chen and co-authors built a system to solve this problem, taking in RGB videos of humans performing manipulation tasks and using them to create accurate simulations with which to learn robot policies. Watch episode #73 of RoboPapers, hosted by Michael Cho - Rbt/Acc and Chris Paxton, now to learn more!

RoboPapers

27,360 просмотров • 5 месяцев назад

Diffusion Policy was one of the big breakthroughs that has enabled an explosion in real-world robot learning. However, it’s always had a weakness, which is that it works by computing a final action trajectory from random noise, which leads to high latency when predicting a final action sequence. Instead, why not initialize the search based on previous actions? This allows for incredibly fast policy inference and in many cases improved generalization, generating high-quality predictions with sub-ms latency. Jindou Jia and Jianfei Yang join us to explain. Learn more on Episode 95 of RoboPapers, with Michael Cho - Rbt/Acc and Chris Paxton!
49:19

Diffusion Policy was one of the big breakthroughs that has enabled an explosion in real-world robot learning. However, it’s always had a weakness, which is that it works by computing a final action trajectory from random noise, which leads to high latency when predicting a final action sequence. Instead, why not initialize the search based on previous actions? This allows for incredibly fast policy inference and in many cases improved generalization, generating high-quality predictions with sub-ms latency. Jindou Jia and Jianfei Yang join us to explain. Learn more on Episode 95 of RoboPapers, with Michael Cho - Rbt/Acc and Chris Paxton!

RoboPapers

28,528 просмотров • 1 месяц назад

Training robot foundation models faces two key hurdles: how to get enough data to train an effective model, and how to make sure that new skills can be acquired quickly. The team at Rhoda AI believes that the answer is training Direct Video Action models from web data. Web data is plentiful, to the point where Rhoda can train their base model on hundreds of years of video data. And then, with the addition of robot data, they can quickly adapt it to new tasks with as little as 20 hours of in-domain data, performing complex, multi-step manipulation tasks with their purpose-built video foundation model. Tongzhou Mu 🤖🦾🦿 Eric Chan and Changan Chen joined us to talk more about their approach. Watch Episode #79 of RoboPapers, with Michael Cho - Rbt/Acc, Chris Paxton, and Jiafei Duan, to learn more!
1:09:10

Training robot foundation models faces two key hurdles: how to get enough data to train an effective model, and how to make sure that new skills can be acquired quickly. The team at Rhoda AI believes that the answer is training Direct Video Action models from web data. Web data is plentiful, to the point where Rhoda can train their base model on hundreds of years of video data. And then, with the addition of robot data, they can quickly adapt it to new tasks with as little as 20 hours of in-domain data, performing complex, multi-step manipulation tasks with their purpose-built video foundation model. Tongzhou Mu 🤖🦾🦿 Eric Chan and Changan Chen joined us to talk more about their approach. Watch Episode #79 of RoboPapers, with Michael Cho - Rbt/Acc, Chris Paxton, and Jiafei Duan, to learn more!

RoboPapers

24,677 просмотров • 4 месяцев назад

Every home is different. That means that to build a useful home robot, we must be able to perform zero-shot generalization on a wide range of tasks. Humanoid company 1X has a solution: world models. 1X Director of Evaluations Daniel Ho joins us on RoboPapers to talk about: - why world models are the future for scaling robot learning - how to use world models for robot control - what world models unlock for evaluating robot model performance - how we can hill-climb from here to general purpose robots Watch Episode #61 of RoboPapers, with Michael Cho - Rbt/Acc and Chris Paxton, now!
54:52

Every home is different. That means that to build a useful home robot, we must be able to perform zero-shot generalization on a wide range of tasks. Humanoid company 1X has a solution: world models. 1X Director of Evaluations Daniel Ho joins us on RoboPapers to talk about: - why world models are the future for scaling robot learning - how to use world models for robot control - what world models unlock for evaluating robot model performance - how we can hill-climb from here to general purpose robots Watch Episode #61 of RoboPapers, with Michael Cho - Rbt/Acc and Chris Paxton, now!

RoboPapers

27,904 просмотров • 7 месяцев назад

Robots has a data problem, in that robotics data is rare. While human video is quite common, it’s not usually directly usable for robots for a variety of reasons, most significantly that it’s missing explicit, accurate robot actions. Instead, Jeremy Collins proposes that we predict keypoint trajectories — basically, how any given point in an object will move as a robot performs a task. This lets us use action-free human video to train robot skills. Learn more by watching Episode #37 of RoboPapers with Michael Cho - Rbt/Acc and Chris Paxton now.
44:56

Robots has a data problem, in that robotics data is rare. While human video is quite common, it’s not usually directly usable for robots for a variety of reasons, most significantly that it’s missing explicit, accurate robot actions. Instead, Jeremy Collins proposes that we predict keypoint trajectories — basically, how any given point in an object will move as a robot performs a task. This lets us use action-free human video to train robot skills. Learn more by watching Episode #37 of RoboPapers with Michael Cho - Rbt/Acc and Chris Paxton now.

RoboPapers

89,011 просмотров • 11 месяцев назад

Collecting dexterous humanoid robot data is difficult to scale. That's why Mengda Xu and Han Zhang built DexUMI: a tool for demonstrating how to control a dexterous robot hand, which allows you to quickly collect task data. Co-hosted by Michael Cho - Rbt/Acc and Chris Paxton
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Collecting dexterous humanoid robot data is difficult to scale. That's why Mengda Xu and Han Zhang built DexUMI: a tool for demonstrating how to control a dexterous robot hand, which allows you to quickly collect task data. Co-hosted by Michael Cho - Rbt/Acc and Chris Paxton

RoboPapers

26,344 просмотров • 1 год назад

It’s long been a dream of roboticists to be able to teach a robot in simulation so as to skip the long and expensive process of collecting large amounts of real-world training data. However, building simulations for robot tasks is extremely hard. Ideally, we could go from real data to a useful simulation. This is exactly what Guangqi Jiang and his co-authors do. they use 3d Gaussian splatting to reconstructed scenes which let them create interactive environments that, when combined with a physcs engine, allow for training robot policies that show zero-shot sim-to-real transfer (i.e., using no real-world demonstrations). To learn more, watch Episode 56 of Robopapers with Michael Cho - Rbt/Acc and Chris Paxton now!
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It’s long been a dream of roboticists to be able to teach a robot in simulation so as to skip the long and expensive process of collecting large amounts of real-world training data. However, building simulations for robot tasks is extremely hard. Ideally, we could go from real data to a useful simulation. This is exactly what Guangqi Jiang and his co-authors do. they use 3d Gaussian splatting to reconstructed scenes which let them create interactive environments that, when combined with a physcs engine, allow for training robot policies that show zero-shot sim-to-real transfer (i.e., using no real-world demonstrations). To learn more, watch Episode 56 of Robopapers with Michael Cho - Rbt/Acc and Chris Paxton now!

RoboPapers

20,434 просмотров • 9 месяцев назад

How can we build robotic hands with truly superhuman dexterity? Daxo Robotics is developing a unique tendon-driven soft robot hand, which aims to be tougher and more capable than a traditional humanoid hand. Each finger consists of many different tendons, which act in concert to move or manipulate. This is a special episode of RoboPapers where, instead of talking about a scientific paper, we talk to Tom Zhang, founder of Daxo Robotics, in order to learn both about his background and about how this one-of-a-kind robot hand design works. Watch Episode #40 of RoboPapers with Michael Cho - Rbt/Acc and Chris Paxton now!
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How can we build robotic hands with truly superhuman dexterity? Daxo Robotics is developing a unique tendon-driven soft robot hand, which aims to be tougher and more capable than a traditional humanoid hand. Each finger consists of many different tendons, which act in concert to move or manipulate. This is a special episode of RoboPapers where, instead of talking about a scientific paper, we talk to Tom Zhang, founder of Daxo Robotics, in order to learn both about his background and about how this one-of-a-kind robot hand design works. Watch Episode #40 of RoboPapers with Michael Cho - Rbt/Acc and Chris Paxton now!

RoboPapers

16,500 просмотров • 10 месяцев назад

How can we build a general-purpose “foundation model” for robot motion? Zhengyi “Zen” Luo joins us to talk about SONIC, which uses motion tracking as a foundational task for humanoid robot control, and scales humanoid control training to 9k GPU hours and 100 million frames worth of data. The result: a model with a generally-useful embedding space that can be controlled by a VLA, or from human video, to perform a wide variety of humanoid whole-body-control tasks, including with zero-shot transfer to previously unseen motions. Watch episode 72 of RoboPapers, with Michael Cho - Rbt/Acc and Jiafei Duan, now!
59:44

How can we build a general-purpose “foundation model” for robot motion? Zhengyi “Zen” Luo joins us to talk about SONIC, which uses motion tracking as a foundational task for humanoid robot control, and scales humanoid control training to 9k GPU hours and 100 million frames worth of data. The result: a model with a generally-useful embedding space that can be controlled by a VLA, or from human video, to perform a wide variety of humanoid whole-body-control tasks, including with zero-shot transfer to previously unseen motions. Watch episode 72 of RoboPapers, with Michael Cho - Rbt/Acc and Jiafei Duan, now!

RoboPapers

24,802 просмотров • 5 месяцев назад

Sports like tennis are great examples of the sort of dynamic whole-body interaction that’s possible with humanoid robots. But capturing examples of fast, dynamic interactions from humans is really difficult. Enter LATENT, which uses lower-quality human data plus reinforcement learning to teach a robot to play tennis, able to complete back-and-forth volleys at a human level. LATENT has three steps: (1) collecting imperfect human data like a backswing, (2) using these to learn a latent action space, and (3) they train a high-level policy in simulation which can compose these actions and execute tennis skills on a robot. Haofei Lu and Yunrui Lian ✈️ IROS join us to tell us about their method. Watch Episode #80 of RoboPapers, with Chris Paxton and Jiafei Duan, now to learn more!
55:30

Sports like tennis are great examples of the sort of dynamic whole-body interaction that’s possible with humanoid robots. But capturing examples of fast, dynamic interactions from humans is really difficult. Enter LATENT, which uses lower-quality human data plus reinforcement learning to teach a robot to play tennis, able to complete back-and-forth volleys at a human level. LATENT has three steps: (1) collecting imperfect human data like a backswing, (2) using these to learn a latent action space, and (3) they train a high-level policy in simulation which can compose these actions and execute tennis skills on a robot. Haofei Lu and Yunrui Lian ✈️ IROS join us to tell us about their method. Watch Episode #80 of RoboPapers, with Chris Paxton and Jiafei Duan, now to learn more!

RoboPapers

30,078 просмотров • 4 месяцев назад

Robot policies must be both reliable and highly capable to be useful; the best way to achieve this level of performance is with reinforcement learning. However, for reinforcement learning you are usually stuck between two difficult options: reinforcement in the real world is often risky and expensive, while reinforcement learning in a traditional simulator takes a lot of engineering work and has a persistent sim-to-real gap. What if instead you could train your robot purely in a world model? RISE by Jiazhi Yang et al. uses a compositional world model to predict the future and evaluate progress. This allows for a self-improving pipeline, which learns a world model from real data and then learns how the robot should perform different tasks. This pipeline results in a data-driven way to improve policy performance from real data but without real-world reinforcement learning. Watch Episode #86 of RoboPapers, with Chris Paxton and Jiafei Duan, to learn more!
53:45

Robot policies must be both reliable and highly capable to be useful; the best way to achieve this level of performance is with reinforcement learning. However, for reinforcement learning you are usually stuck between two difficult options: reinforcement in the real world is often risky and expensive, while reinforcement learning in a traditional simulator takes a lot of engineering work and has a persistent sim-to-real gap. What if instead you could train your robot purely in a world model? RISE by Jiazhi Yang et al. uses a compositional world model to predict the future and evaluate progress. This allows for a self-improving pipeline, which learns a world model from real data and then learns how the robot should perform different tasks. This pipeline results in a data-driven way to improve policy performance from real data but without real-world reinforcement learning. Watch Episode #86 of RoboPapers, with Chris Paxton and Jiafei Duan, to learn more!

RoboPapers

38,772 просмотров • 3 месяцев назад

Spatial understanding is important to moving around in complex environments and is a huge part of the challenge of generalizing to new scenes. Most world models, however, largely ignore this spatial dimension, focusing on 2D images. Not PointWorld, though. PointWorld is a 3D world model trained from real and simulated data which can perform a wide variety of manipulation tasks on a real robot, including grasping or handling articulated objects, all without any additional fine tuning. Wenlong Huang joins us to tell us more about what makes this work and how it’s different from other world models. Watch Episode #83 of RoboPapers, with Chris Paxton and Jiafei Duan, to learn more!
1:22:44

Spatial understanding is important to moving around in complex environments and is a huge part of the challenge of generalizing to new scenes. Most world models, however, largely ignore this spatial dimension, focusing on 2D images. Not PointWorld, though. PointWorld is a 3D world model trained from real and simulated data which can perform a wide variety of manipulation tasks on a real robot, including grasping or handling articulated objects, all without any additional fine tuning. Wenlong Huang joins us to tell us more about what makes this work and how it’s different from other world models. Watch Episode #83 of RoboPapers, with Chris Paxton and Jiafei Duan, to learn more!

RoboPapers

16,197 просмотров • 3 месяцев назад

Reinforcement learning has unlocked tremendous gains in broader AI and humanoid robot whole body control, but still has yet to deliver strong results for robot manipulation due to the difficulty of capturing tasks in an accurate simulation; one way to fix this is to create complex environments with learned world models. But learning fully within world models is often intractable as powerful world models are computationally too expensive. Instead, Joseph Amigo and Rooholla Khorrambakht propose to break the problem down: into a large-scale world model that can generate forward trajectories, and a lightweight, low-dimensional latent-space model which can approximate local dynamics of a problem, without needing to back-propagate through a heavy global model. What this means: you can do reinforcement learning in this coupled local-global world model, and learn contact rich skills for a robot. To learn more, watch Episode #101 of RoboPapers, with Michael Cho - Rbt/Acc and Jiafei Duan!
51:25

Reinforcement learning has unlocked tremendous gains in broader AI and humanoid robot whole body control, but still has yet to deliver strong results for robot manipulation due to the difficulty of capturing tasks in an accurate simulation; one way to fix this is to create complex environments with learned world models. But learning fully within world models is often intractable as powerful world models are computationally too expensive. Instead, Joseph Amigo and Rooholla Khorrambakht propose to break the problem down: into a large-scale world model that can generate forward trajectories, and a lightweight, low-dimensional latent-space model which can approximate local dynamics of a problem, without needing to back-propagate through a heavy global model. What this means: you can do reinforcement learning in this coupled local-global world model, and learn contact rich skills for a robot. To learn more, watch Episode #101 of RoboPapers, with Michael Cho - Rbt/Acc and Jiafei Duan!

RoboPapers

16,641 просмотров • 16 дней назад

Pretraining is essential for good performance on a wide variety of robotics tasks, and so most vision-language-action models build off of a vision language model (VLM) trained on a wide variety of image-language data. But how does the choice of VLM translate to downstream robotics performance? Jianke Zhang and @GYanjiang join us to talk about this key part of the robot policy, looking at a wide variety of different VLMs and how they perform. Interestingly, they see that performance on auxiliary tasks like quesiton answering did not lead to downstream improvements in control. To learn more, watch episode 65 of RoboPapers now, with Chris Paxton and Jiafei Duan!
1:03:46

Pretraining is essential for good performance on a wide variety of robotics tasks, and so most vision-language-action models build off of a vision language model (VLM) trained on a wide variety of image-language data. But how does the choice of VLM translate to downstream robotics performance? Jianke Zhang and @GYanjiang join us to talk about this key part of the robot policy, looking at a wide variety of different VLMs and how they perform. Interestingly, they see that performance on auxiliary tasks like quesiton answering did not lead to downstream improvements in control. To learn more, watch episode 65 of RoboPapers now, with Chris Paxton and Jiafei Duan!

RoboPapers

23,905 просмотров • 6 месяцев назад

Excitement about world-action models and robot learning has never been higher — they promise a way to use human egocentric data to train massive robotics models which can provide the “GPT” moment for robotics and unlock general-purpose embodied intelligence. And yet there’s been little concrete demonstration of scaling in robot learning. Dyna Robotics aims to change that, with an in-depth look at how scaling works as they approach 1 million hours of training data. Jason Ma Tianyu Li Anh-Quan Pham and Chet Bhateja joined us to tell us more. They show that as the amount of data they use in pretraining increased, they saw predictable, statistically significant gains on accuracy metrics on held-out data (data not seen during training). They go on to talk about what they learned, and show how this can be applied to many different problems. Watch Episode #99 of RoboPapers, with Michael Cho - Rbt/Acc Chris Paxton Jiafei Duan today to learn more!
1:07:18

Excitement about world-action models and robot learning has never been higher — they promise a way to use human egocentric data to train massive robotics models which can provide the “GPT” moment for robotics and unlock general-purpose embodied intelligence. And yet there’s been little concrete demonstration of scaling in robot learning. Dyna Robotics aims to change that, with an in-depth look at how scaling works as they approach 1 million hours of training data. Jason Ma Tianyu Li Anh-Quan Pham and Chet Bhateja joined us to tell us more. They show that as the amount of data they use in pretraining increased, they saw predictable, statistically significant gains on accuracy metrics on held-out data (data not seen during training). They go on to talk about what they learned, and show how this can be applied to many different problems. Watch Episode #99 of RoboPapers, with Michael Cho - Rbt/Acc Chris Paxton Jiafei Duan today to learn more!

RoboPapers

25,893 просмотров • 1 месяц назад

World models — action-conditioned predictive models of the environment — are an exciting are of research for robots that can be useful both for training and for test-time compute. But video-based world models waste a lot of predictive power on reconstructing pixels, which makes model and data requirements much higher and limits how far out into the future their predictions remain viable. Instead, what if we learned a purely semantic world model, one which predicts which properties will be true about the world after a sequence of actions, without reconstructing the whole images? Jacob Berg tells us more. Watch Episode #53 of RoboPapers now, with Michael Cho - Rbt/Acc and Chris Paxton!
1:05:25

World models — action-conditioned predictive models of the environment — are an exciting are of research for robots that can be useful both for training and for test-time compute. But video-based world models waste a lot of predictive power on reconstructing pixels, which makes model and data requirements much higher and limits how far out into the future their predictions remain viable. Instead, what if we learned a purely semantic world model, one which predicts which properties will be true about the world after a sequence of actions, without reconstructing the whole images? Jacob Berg tells us more. Watch Episode #53 of RoboPapers now, with Michael Cho - Rbt/Acc and Chris Paxton!

RoboPapers

39,322 просмотров • 9 месяцев назад

Just collecting manipulation data isn’t enough for robots - they need to be able to move around in the world, which has a whole different set of challenges from pure manipulation. And bringing navigation and manipulation together in a single framework is even more challenging. Enter HERMES, from Zhecheng Yuan and Tianming Wei. This is a four-stage process in which human videos are used to set up an RL sim-to-real training pipeline in order to overcome differences between robot and human kinematics, and used together with a navigation foundation model to move around in a variety of environments. To learn more, join us as Zhecheng Yuan and Tianming Wei tell us about how they built their system to perform mobile dexterous manipulation from human videos in a variety of environments. Watch Episode #45 of RoboPapers today, hosted by Michael Cho - Rbt/Acc and Chris Paxton!
1:01:08

Just collecting manipulation data isn’t enough for robots - they need to be able to move around in the world, which has a whole different set of challenges from pure manipulation. And bringing navigation and manipulation together in a single framework is even more challenging. Enter HERMES, from Zhecheng Yuan and Tianming Wei. This is a four-stage process in which human videos are used to set up an RL sim-to-real training pipeline in order to overcome differences between robot and human kinematics, and used together with a navigation foundation model to move around in a variety of environments. To learn more, join us as Zhecheng Yuan and Tianming Wei tell us about how they built their system to perform mobile dexterous manipulation from human videos in a variety of environments. Watch Episode #45 of RoboPapers today, hosted by Michael Cho - Rbt/Acc and Chris Paxton!

RoboPapers

15,092 просмотров • 9 месяцев назад

Robotics fundamentally involves understanding the dynamics of how things change in the world in response to action and force. This is impossible to learn from static images; instead, it’s far more effective and more data-efficient to learn from video. Elvis Nava joins us to talk about @mimicrobotic. One of the key findings from mimic-video is that pretraining on webscale video allows robots to learn physics priors; as a result, policies train faster, generalize better, and are capable of more impressive dexterity, versus training on static images or image-language pairs as per a VLM. Watch Episode #81 of RoboPapers with Michael Cho - Rbt/Acc and Chris Paxton to learn more!
1:08:43

Robotics fundamentally involves understanding the dynamics of how things change in the world in response to action and force. This is impossible to learn from static images; instead, it’s far more effective and more data-efficient to learn from video. Elvis Nava joins us to talk about @mimicrobotic. One of the key findings from mimic-video is that pretraining on webscale video allows robots to learn physics priors; as a result, policies train faster, generalize better, and are capable of more impressive dexterity, versus training on static images or image-language pairs as per a VLM. Watch Episode #81 of RoboPapers with Michael Cho - Rbt/Acc and Chris Paxton to learn more!

RoboPapers

48,645 просмотров • 4 месяцев назад

Evaluating robot policies is hard. Every lab has a different robot; reproducible evaluations are really challenging. This makes it hard for us to know which methods for learning robot policies are likely to perform the best in real-world scenarios. Taking a page from LLM evaluations like Chatbot Arena, RoboArena aims to address this problem through crowdsourcing evaluations with a network of different evaluators. Watch Episode #34 of RoboPapers, hosted by Michael Cho - Rbt/Acc and Chris Paxton , now to learn more from authors Pranav Atreya and Karl Pertsch!
47:30

Evaluating robot policies is hard. Every lab has a different robot; reproducible evaluations are really challenging. This makes it hard for us to know which methods for learning robot policies are likely to perform the best in real-world scenarios. Taking a page from LLM evaluations like Chatbot Arena, RoboArena aims to address this problem through crowdsourcing evaluations with a network of different evaluators. Watch Episode #34 of RoboPapers, hosted by Michael Cho - Rbt/Acc and Chris Paxton , now to learn more from authors Pranav Atreya and Karl Pertsch!

RoboPapers

15,056 просмотров • 11 месяцев назад