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My team is hiring in multimodal representation learning. We are working on tactile representations to equip robots with a physical understanding of the world. Bored of scraping disembodied internet data and looking for a new challenge? Apply here:

56,704 次观看 • 2 年前 •via X (Twitter)

3 条评论

Mustafa Mukadam 的头像
Mustafa Mukadam2 年前

Some recent works from my team along these lines - Tactile to Depth: - Tactile Diffusion: - Tactile-VLM: - Tactile Seq-to-Seq SSM:

Alexander Soare 的头像
Alexander Soare2 年前

I'll apply if PhD is not a hard requirement. LI for professional creds GH for whatever personal projects I can fit in

Ram Koppu 的头像
Ram Koppu2 年前

@chris_j_paxton Are there any end to end open source foundation models for Robotics?

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Experiments in progress. The one on the right has been learning for ~3 hours, the one in the middle for ~1 hour, and the one on the left just started a few minutes ago. The initial motivation for making the physical Atari was just to commit ourselves to a subset of algorithms that can make progress in this setup. This commitment rules out algorithms that require billions of samples to learn (or worse, require multiple environments running in parallel). Atari games are simple enough that we should be able to show learning on them in a short amount of time with no prior knowledge. Since then, I've realized that this setup is also a good way to compare different paradigms in robotics in a principled way. These paradigms are sim2real, learning from tele-operated data, and learning directly on the robots. So far, I have observed that getting sim2real to work reliably is hard. It requires tweaks that don't scale. Policies that can play perfectly in simulation fall apart because of latencies and the messiness of the real world. These aspects could be modeled to improve the simulation, but not without sinking significant human engineering hours. I have higher hopes for learning from tele-operated data, but that requires a human to learn the task first. These experiments are on my to-do list. I have to learn to play some of the games well through the robot. I’m half-decent at playing Pong and Ms Pacman now. Learning directly on robots is looking like the most promising approach. This approach takes away pesky distribution shifts and makes it possible to have algorithms that continually improve with more data and time without any human intervention. It feels great to let experiments run overnight and wake up to find improved policies. With learning on robots, I should, in principle, be able to go on a long vacation and come back to find better policies for complex tasks beyond Atari games. Whether that is possible with current learning algorithms is a different question.

Khurram Javed

52,110 次观看 • 8 个月前