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Robotics has a data problem, and egocentric data is a compelling way to solve it because egocentric data is (1) scalable — it’s cheap to collect — and (2) easily captures the breadth and diversity of real human tasks, while (3) being true to real physics. Lightwheel recently released...

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RoboPapers

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19,715 次观看 • 15 小时前 •via X (Twitter)

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Co-training has become a key part of the recipe for training large robotics models; it means that you mix some proportion of real robot data with other data sources, like simulation or egocentric human video data. This is especially important because robotics data tends to lack diversity which can be somewhat compensated for by the inclusion of these other modalities. And yet there has not been a sizable study on what constitute good practices for cotraining until now! We talk to Fanqi Lin and Jose Barreiros about their new work, a massive study which evaluated 89 policies over thousands of rollouts to tell us which forms of co-training were most useful for robotics. Watch episode 70 of RoboPapers, with Michael Cho and Chris Paxton, now!
1:24:52

Co-training has become a key part of the recipe for training large robotics models; it means that you mix some proportion of real robot data with other data sources, like simulation or egocentric human video data. This is especially important because robotics data tends to lack diversity which can be somewhat compensated for by the inclusion of these other modalities. And yet there has not been a sizable study on what constitute good practices for cotraining until now! We talk to Fanqi Lin and Jose Barreiros about their new work, a massive study which evaluated 89 policies over thousands of rollouts to tell us which forms of co-training were most useful for robotics. Watch episode 70 of RoboPapers, with Michael Cho and Chris Paxton, now!

RoboPapers

19,152 次观看 • 5 个月前

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 次观看 • 4 个月前

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

24,639 次观看 • 4 个月前

Teaching robots from human video is an important part of overcoming the “data gap” in robotics, but many of the details still need to be worked out. Homanga Bharadhwaj tells us about two recent research papers, Gen2Act and Spider, which go over different aspects of the problem: Gen2Act uses generative video models to create a reference of how a task should be performed given a language prompt; then, it uses a multi-purpose policy that can “translate” from human video to robot motion. However, Gen2Act has its limitations, in particular when it comes to dexterous, contact-rich tasks. That’s where SPIDER comes in: it uses human data together with simulation to train policies across many different humanoid hands and datasets. Also of note is that this is our first episode with our new rotating co-host, Jiafei Duan. To learn more, watch Episode #57 of RoboPapers now, with Chris Paxton and Jiafei Duan!
51:04

Teaching robots from human video is an important part of overcoming the “data gap” in robotics, but many of the details still need to be worked out. Homanga Bharadhwaj tells us about two recent research papers, Gen2Act and Spider, which go over different aspects of the problem: Gen2Act uses generative video models to create a reference of how a task should be performed given a language prompt; then, it uses a multi-purpose policy that can “translate” from human video to robot motion. However, Gen2Act has its limitations, in particular when it comes to dexterous, contact-rich tasks. That’s where SPIDER comes in: it uses human data together with simulation to train policies across many different humanoid hands and datasets. Also of note is that this is our first episode with our new rotating co-host, Jiafei Duan. To learn more, watch Episode #57 of RoboPapers now, with Chris Paxton and Jiafei Duan!

RoboPapers

24,286 次观看 • 8 个月前

Imitation learning has a data scarcity problem. Introducing EgoDex from Apple, the largest and most diverse dataset of dexterous human manipulation to date — 829 hours of egocentric video + paired 3D hand poses across 194 tasks. Now on arxiv: (1/4)
0:27

Imitation learning has a data scarcity problem. Introducing EgoDex from Apple, the largest and most diverse dataset of dexterous human manipulation to date — 829 hours of egocentric video + paired 3D hand poses across 194 tasks. Now on arxiv: (1/4)

Ryan Hoque

114,284 次观看 • 1 年前

ego-to-robot data pipeline is one key component of Qwen-RobotManip （ Today, we’re sharing the full technical details behind it: Ego2Robot 🤖 It turns egocentric human videos into scalable robot training data and improves VLA generalization across tasks and embodiments. page: arxiv: huggingface upvoting 🚀:
2:46

ego-to-robot data pipeline is one key component of Qwen-RobotManip （ Today, we’re sharing the full technical details behind it: Ego2Robot 🤖 It turns egocentric human videos into scalable robot training data and improves VLA generalization across tasks and embodiments. page: arxiv: huggingface upvoting 🚀:

barry (xiong-hui) chen

17,158 次观看 • 1 个月前

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 次观看 • 6 个月前

Benchmarking, evaluating, and developing robotics code is difficult, and part of this is because no simulator really reflects the diversity and scale of real embodiments. Enter MolmoSpaces from AI2: a massive open ecosystem with a range of 230,000 handcrafted and procedurally-generated home environments, including 48,000 manipulable objects. Crucially, MolmoSpaces provides simulation environments which work for both navigation and manipulation. We talked to the team: Yejin Kim @ RSS2026, Omar Rayyan, and Max Argus, to tell us more. Watch Episode 69 of RoboPapers, with Michael Cho - Rbt/Acc and Jiafei Duan, now!
1:11:00

Benchmarking, evaluating, and developing robotics code is difficult, and part of this is because no simulator really reflects the diversity and scale of real embodiments. Enter MolmoSpaces from AI2: a massive open ecosystem with a range of 230,000 handcrafted and procedurally-generated home environments, including 48,000 manipulable objects. Crucially, MolmoSpaces provides simulation environments which work for both navigation and manipulation. We talked to the team: Yejin Kim @ RSS2026, Omar Rayyan, and Max Argus, to tell us more. Watch Episode 69 of RoboPapers, with Michael Cho - Rbt/Acc and Jiafei Duan, now!

RoboPapers

21,116 次观看 • 5 个月前

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 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 join us to tell us about their method. Watch Episode #80 of RoboPapers, with Chris Paxton and Jiafei Duan, now to learn more!

RoboPapers

30,067 次观看 • 3 个月前

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 次观看 • 3 个月前

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!
46:05

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 次观看 • 8 个月前

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 次观看 • 4 个月前

Robots, unfortunately, tend to be expensive. And finding a robot that’s both capable of performing a wide variety of mobile manipulation tasks, and is affordable and “hackable”, is extremely difficult. Many different problems need to be addressed, from arm control to navigation to integrating your data collection strategy into hardware design. This can make it difficult for all but the most well-funded teams to “scale” real-world robotics research. Fortunately, the team behind Build Your Own Robot has a solution. Manan Anjaria, Mahi Shafiullah 🏠🤖,Jeff Cui, and Enes Erciyes joined us to talk about how they build a fully open-source mobile manipulator out of off-the-shelf parts, which has humanlike range of motion, and can perform a wide variety of tasks, all while being only roughly $10,000 to build. Watch Episode 71 of RoboPapers, with Michael Cho - Rbt/Acc and Chris Paxton, today to learn more!
1:01:11

Robots, unfortunately, tend to be expensive. And finding a robot that’s both capable of performing a wide variety of mobile manipulation tasks, and is affordable and “hackable”, is extremely difficult. Many different problems need to be addressed, from arm control to navigation to integrating your data collection strategy into hardware design. This can make it difficult for all but the most well-funded teams to “scale” real-world robotics research. Fortunately, the team behind Build Your Own Robot has a solution. Manan Anjaria, Mahi Shafiullah 🏠🤖,Jeff Cui, and Enes Erciyes joined us to talk about how they build a fully open-source mobile manipulator out of off-the-shelf parts, which has humanlike range of motion, and can perform a wide variety of tasks, all while being only roughly $10,000 to build. Watch Episode 71 of RoboPapers, with Michael Cho - Rbt/Acc and Chris Paxton, today to learn more!

RoboPapers

34,151 次观看 • 5 个月前

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 次观看 • 10 个月前

The largest fully annotated open egocentric human dataset. Today we're open-sourcing EgoSuite-Open100K with Hugging Face : 100,000 hours of egocentric human data, free for anyone to use. Physical AI has a scaling law of its own now, and its input is human data. That part is settled. What the field still needs is a shared foundation to build on. 15,000+ tasks. 15,000+ real scenes, from factory floors to retail backrooms. Hand pose, body pose and subtask-level semantics, with wrist camera coverage on part of the set. Licensed for commercial training, not research-only. We build the data infrastructure for Physical AI. Open100K is the first public layer of it. The first 10,000 hours are live now, with the rest rolling out in stages.
1:18

The largest fully annotated open egocentric human dataset. Today we're open-sourcing EgoSuite-Open100K with Hugging Face : 100,000 hours of egocentric human data, free for anyone to use. Physical AI has a scaling law of its own now, and its input is human data. That part is settled. What the field still needs is a shared foundation to build on. 15,000+ tasks. 15,000+ real scenes, from factory floors to retail backrooms. Hand pose, body pose and subtask-level semantics, with wrist camera coverage on part of the set. Licensed for commercial training, not research-only. We build the data infrastructure for Physical AI. Open100K is the first public layer of it. The first 10,000 hours are live now, with the rest rolling out in stages.

Lightwheel

73,314 次观看 • 18 天前

Collecting robot data at scale is key to deploying working manipulation policies, and the team from Tutor Intelligence Tutor is here to tell us about how to accomplish it. Their new announcement: a massive, 100-robot “data factory,” with a behind-the-scenes look at how to build a teleoperation platform and how to make robots and policies that are useful for their customers. Tutor Intelligence is a full-stack robotics company: they build robot arms, they sell robot arms, they write the software and they train neural networks. Josh Gruenstein, Jesse Michel, Shiraz, and Joe McCalmon, and Joe McCalmon join us to tell us more about how they scale both teleop data and human interventions from their teleoperators in order to train the policies they need. Watch Episode #85 of RoboPapers, with Chris Paxton and Jiafei Duan, to learn more!
1:01:03

Collecting robot data at scale is key to deploying working manipulation policies, and the team from Tutor Intelligence Tutor is here to tell us about how to accomplish it. Their new announcement: a massive, 100-robot “data factory,” with a behind-the-scenes look at how to build a teleoperation platform and how to make robots and policies that are useful for their customers. Tutor Intelligence is a full-stack robotics company: they build robot arms, they sell robot arms, they write the software and they train neural networks. Josh Gruenstein, Jesse Michel, Shiraz, and Joe McCalmon, and Joe McCalmon join us to tell us more about how they scale both teleop data and human interventions from their teleoperators in order to train the policies they need. Watch Episode #85 of RoboPapers, with Chris Paxton and Jiafei Duan, to learn more!

RoboPapers

36,041 次观看 • 3 个月前

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 次观看 • 2 个月前

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 次观看 • 3 个月前

With enough data, robots and AI can learn “world models” that let them predict the results of their actions. These models are a way to learn how embodied AI agents can perform a wide variety of useful tasks — but they require a huge amount of data. The team at General Intuition General Intuition has a solution: use data from video games! Games teach movement, problem solving, and complex spatial reasoning, and they come in a staggering diversity of forms, covering a wide variety of problems. What’s more, the captured data is high-quality, without the noise or annotation error that can come from We sat down with Pim de Witte and Adam Jelley from the General Intuition team to learn more about their history, their plans, and their philosophy.
53:51

With enough data, robots and AI can learn “world models” that let them predict the results of their actions. These models are a way to learn how embodied AI agents can perform a wide variety of useful tasks — but they require a huge amount of data. The team at General Intuition General Intuition has a solution: use data from video games! Games teach movement, problem solving, and complex spatial reasoning, and they come in a staggering diversity of forms, covering a wide variety of problems. What’s more, the captured data is high-quality, without the noise or annotation error that can come from We sat down with Pim de Witte and Adam Jelley from the General Intuition team to learn more about their history, their plans, and their philosophy.

RoboPapers

85,927 次观看 • 9 个月前

We’ve all seen videos of humanoid robots performing single tasks that are very impressive, like dancing or karate. But training humanoid robots to perform a wide range of complex motions is difficult. GMT is a general-purpose policy which can learn a wide range of robot motions. Watch Episode #32 of RoboPapers, with Zixuan Chen , co-hosted by Michael Cho - Rbt/Acc and Chris Paxton , to learn more.
1:03:17

We’ve all seen videos of humanoid robots performing single tasks that are very impressive, like dancing or karate. But training humanoid robots to perform a wide range of complex motions is difficult. GMT is a general-purpose policy which can learn a wide range of robot motions. Watch Episode #32 of RoboPapers, with Zixuan Chen , co-hosted by Michael Cho - Rbt/Acc and Chris Paxton , to learn more.

RoboPapers

16,605 次观看 • 11 个月前