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Looking for feedback on my physical AI setup. Currently it’s: - OpenArm bi-manual body (Japan 🇯🇵) - Diver-X tactile haptic glove (Japan 🇯🇵) - AGIBot robot hand (China 🇨🇳) What is everyone else using?

13,220 görüntüleme • 2 ay önce •via X (Twitter)

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I was really impressed by the UMI gripper (Cheng Chi et al.), but a key limitation is that **force-related data wasn’t captured**: humans feel haptic feedback through the mechanical springs, but the robot couldn’t leverage that info, limiting the data’s value for fine-grained manipulation tasks. Led by my amazing students Yolanda Zhu and Binghao Huang, we designed a **portable visuo-tactile gripper** by integrating our dense, flexible tactile arrays with the UMI gripper to enable large-scale in-the-wild data collection. 🔗 We demonstrate **cross-modal representation learning** and **downstream policy learning** on tasks requiring in-hand state estimation (e.g., test tube reorientation) and fine-grained force sensing (e.g., pipette fluid transfer). Key takeaways: - Our flexible tactile arrays store the rich haptic information humans perceive as dense tactile signals. - Portability and robustness are key for in-the-wild data collection; our portable gripper is compact, lightweight, and durable. - Touch provides precise, robust measurements of in-hand object pose, invariant to lighting and viewpoint. - Cross-modal pretraining on large-scale in-the-wild data significantly improves policy robustness and sample efficiency (as shown many times before — and verified again here!). Also check out our previous investigations of dense, flexible tactile grids for understanding human-robot-environment interactions: - Dense tactile glove (Nature ’19): - 3D-ViTac (CoRL ’24):

Yunzhu Li

13,188 görüntüleme • 1 yıl önce

🇯🇵 Why Japan’s Decline Is Psychological, Not Just Economic Everyone talks about Japan’s economic stagnation — lost decades, shrinking influence, declining industries. But there’s a deeper layer almost nobody touches: Japan’s geopolitical identity crisis is inseparable from its hostility toward China. Not because China threatens Japan. But because China shattered the psychological structure Japan has lived inside for 80 years. 1. Japan once believed it understood how Asia should work. Modern Japan’s national mindset is built on one story: • The U.S. defeated us. • The U.S. rebuilt us. • The U.S. protects us. • The West accepts us as the “civilized Asian,” the honorary white nation. Japan internalized this hierarchy. And then it projected the same logic onto China. Japan slaughtered 35 million Chinese. Ran Unit 731. Used women as sexual slaves. But Tokyo always believed: “I am richer, I am more advanced, I have better reputation. So China should ‘move on’ the same way I moved on under U.S. rule.” Japan thought dominance creates obedience. Because that is how it behaved toward America. 2. When China was weak, Japan mistook silence for acceptance. For decades, China didn’t have the power to push back internationally. Japan interpreted this as: • “China accepted our narrative.” • “China doesn’t dare confront us.” • “The war is over — we won the moral argument.” This is absolutely not reconciliation; it is merely a power illusion. Japan became comfortable believing: “If China must bow to someone, it should bow to me, just like I bowed to America.” 3. Then China rose — and Japan’s entire worldview collapsed. China didn’t just grow. China overtook Japan in every pillar of national power: • GDP • Manufacturing • Technology • Diplomacy • Military • Global influence China now competes with the United States itself — the very empire Japan historically imitates. And this is where the psychological rupture begins: Japan cannot emotionally process a world where China stands on the same level as America. Because in Japan’s internal hierarchy: • America is the master. • Japan is the apprentice. • China is supposed to be below both. But suddenly… the “student of America” watches the “victim of Japan” surpass them both in power and prestige. For many Japanese nationalists, this feels like an existential insult: “How dare China rise to the level of my master? How dare China erase the hierarchy that defines me?” So the hatred intensifies. Not just political hatred — existential hatred. 4. And the irony? China never asked Japan to kneel. China only asked Japan to face history. But to Japan, acknowledging history means acknowledging loss of superiority. So instead, resentment grows. And Japan’s geopolitical relevance shrinks even faster. 5. Japan’s economic decline is inseparable from this psychological stagnation. - While China built entire industrial ecosystems, Japan clung to nostalgia and Western validation. - While China out-innovated, out-built, out-scaled, Japan obsessed over keeping China “in its place.” Japan’s decline is not just economic, it is a refusal to accept a world where it no longer defines Asia.

𝘊𝘰𝘳𝘳𝘪𝘯𝘦

179,313 görüntüleme • 6 ay önce