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Today, we publicly released RoboCasa365, a large-scale simulation benchmark for training and systematically evaluating generalist robot models. Built upon our original RoboCasa framework, it offers: • 2,500 realistic kitchen environments; • 365 everyday tasks (basic skills + long-horizon mobile manipulation); • Over 3,200 objects with many articulated fixtures/appliances. All...

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Yuke Zhu

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24,473 görüntüleme • 7 ay önce •via X (Twitter)

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Jie Wang profil fotoğrafı
Jie Wang7 ay önce

Has been trying it a while, 365 is so good! Excited to see more robot embodiment coming there

The AI Pessimist profil fotoğrafı
The AI Pessimist7 ay önce

@HeyGenLabs summarize

Tokwa profil fotoğrafı
Tokwa6 ay önce

Very cool!

MAX ONBOARDER ⭕ profil fotoğrafı
MAX ONBOARDER ⭕7 ay önce

This is amazing fest yuke, I am definitely going to try it out. What's it's gaudrails ?

clankr profil fotoğrafı
clankr7 ay önce

Love this. Kitchens are a much more natural benchmark for humanoids compared to repetitive isolated factory setups

femi profil fotoğrafı
femi7 ay önce

great work!

T profil fotoğrafı
T7 ay önce

Wow

Xingxin HE profil fotoğrafı
Xingxin HE7 ay önce

Congrats on the release! How is the performance deployed in a real environment?

Reza Sayar profil fotoğrafı
Reza Sayar7 ay önce

@GChongkai 🔥🔥🔥🔥🔥👏

Junshan Huang profil fotoğrafı
Junshan Huang7 ay önce

Nice!!!

Balveer Singh profil fotoğrafı
Balveer Singh7 ay önce

I was reading about this yesterday and learning how it is different from the Omniverse stack

Base Layer Robotics profil fotoğrafı
Base Layer Robotics7 ay önce

That is very cool!

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Introducing the Open Axis Benchmark, a living benchmark engine for honest evaluation of robot manipulation models, built together with OpenRoboto. Robotic models evolve faster every month, while most benchmarks stay frozen. Models overfit to fixed task sets, scores stop reflecting real generalization, and that distorted signal misleads and holds back model evolution. Open Axis Benchmark isn't just larger. It lets evaluation itself keep pace with the models: each round locks a fresh task set drawn from the growing Axis Library, so models prove they can generalize instead of memorizing the test. Axis provides the data engine behind it, continuously producing tasks at the scale and diversity needed to genuinely test generalization. With Open Axis Benchmark, the same compounding loop that trains robots also powers how they are evaluated. Submit your model: Docs: See how it works ⬇️

Axis Robotics

29,935 görüntüleme • 6 gün önce

🧵 Evaluating robot policies in the real world is slow, expensive, and hard to scale. During my internship at SceniX this summer, we had many discussions around the two key questions: how accurate must a simulator be for evaluation to be meaningful, and how do we get there? Our new framework, Real2Sim-Eval, takes a step toward that answer. By combining Gaussian Splatting for photorealistic rendering and soft-body digital twins for realistic dynamics, we make simulation predictive of real-world performance. 👉
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🧵 Evaluating robot policies in the real world is slow, expensive, and hard to scale. During my internship at SceniX this summer, we had many discussions around the two key questions: how accurate must a simulator be for evaluation to be meaningful, and how do we get there? Our new framework, Real2Sim-Eval, takes a step toward that answer. By combining Gaussian Splatting for photorealistic rendering and soft-body digital twins for realistic dynamics, we make simulation predictive of real-world performance. 👉

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Memory is one of the most important problems in robotics. Long horizon memory is key for a variety of robot manipulation problems. However, there exist no good benchmarks for understanding progress in how well generalist robot policies can understand language. Yinpei Dai and Yuejiang Liu made RoboMME as a solution: it’s a large benchmark which shows 16 different robot tasks, like counting objects or mastering timing. They show 14 different memory-augmented generalist policies across these different benchmarks. It’s an incredibly thorough and interesting result, aimed at driving forward this core robotic capability. To learn more, watch Episode 91 of RoboPapers with Michael Cho - Rbt/Acc and Chris Paxton!
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RoboPapers

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Today we're announcing Base Labs, a dedicated research organization focused on advancing open-source AI. We believe in a healthy, open frontier model ecosystem. To enable this, we are working on: - Blue-sky research on continual learning, the science of RL, and how models learn across their full lifecycle, with every experiment and recipe shared openly. - The BaseHub Data Foundry: the highest-quality open RL environments, training data, and real-world benchmarks, built for anyone to train and benchmark on. - Post-post training: taking open-source models and making them better, safer, and more aligned through continual post-training, built on our research, and deployed with our frontier safety stack so organizations can use open-source models with confidence. - Making models cheaper and more performant through our model performance research. This is a mission-driven research effort, not a commercial product. We believe the health of the open-source AI ecosystem matters and that the best way to advance it is to do science in the open. We’re hiring engineers, researchers, and research fellows to advance this mission.
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Today we're announcing Base Labs, a dedicated research organization focused on advancing open-source AI. We believe in a healthy, open frontier model ecosystem. To enable this, we are working on: - Blue-sky research on continual learning, the science of RL, and how models learn across their full lifecycle, with every experiment and recipe shared openly. - The BaseHub Data Foundry: the highest-quality open RL environments, training data, and real-world benchmarks, built for anyone to train and benchmark on. - Post-post training: taking open-source models and making them better, safer, and more aligned through continual post-training, built on our research, and deployed with our frontier safety stack so organizations can use open-source models with confidence. - Making models cheaper and more performant through our model performance research. This is a mission-driven research effort, not a commercial product. We believe the health of the open-source AI ecosystem matters and that the best way to advance it is to do science in the open. We’re hiring engineers, researchers, and research fellows to advance this mission.

Base Labs

241,481 görüntüleme • 28 gün önce

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!
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RoboPapers

16,760 görüntüleme • 27 gün önce

📢 Announcing one of the most exciting works from us this year on **scalable robot policy evaluation through real-to-sim transfer**, moving toward a scalable evaluation engine with structured world models that capture the appearance, geometry, and dynamics of environments involving deformable objects. 🤖 Evaluation remains one of the biggest bottlenecks in building general-purpose robots. Today, robots are still evaluated only in the real world, which is **orders of magnitude slower** than the development of language agents. We propose a new framework where simulation performance **strongly correlates** with the real world (r > 0.9), even for deformable objects. The key difference from existing work lies in the correlation between simulation and reality: if a robot model performs better in the digital world, does it also perform better in the real world? This question has long made people hesitant about simulation-based evaluation — especially for deformable objects. We are changing that. Our pipeline achieves effective real-to-sim transfer, establishing **state-of-the-art correlation** between simulation and reality for deformable object manipulation. It provides a **scalable and reproducible evaluation engine** for robot learning. 🌐
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📢 Announcing one of the most exciting works from us this year on **scalable robot policy evaluation through real-to-sim transfer**, moving toward a scalable evaluation engine with structured world models that capture the appearance, geometry, and dynamics of environments involving deformable objects. 🤖 Evaluation remains one of the biggest bottlenecks in building general-purpose robots. Today, robots are still evaluated only in the real world, which is **orders of magnitude slower** than the development of language agents. We propose a new framework where simulation performance **strongly correlates** with the real world (r > 0.9), even for deformable objects. The key difference from existing work lies in the correlation between simulation and reality: if a robot model performs better in the digital world, does it also perform better in the real world? This question has long made people hesitant about simulation-based evaluation — especially for deformable objects. We are changing that. Our pipeline achieves effective real-to-sim transfer, establishing **state-of-the-art correlation** between simulation and reality for deformable object manipulation. It provides a **scalable and reproducible evaluation engine** for robot learning. 🌐

Yunzhu Li

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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!
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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 görüntüleme • 9 ay önce

A big part of scaling robot learning to solve real-world problems is that we somehow need to get enough diverse, high-quality data to train our robots to perform useful things. GPT and its fellow large language models were bootstrapped and proved out on a massive dataset of real-world language data. Unfortunately, despite our best efforts, similarly massive datasets don’t really exist for robotics — so, in our unending pursuit of high-quality, useful data, we turn to simulation. I compared a couple recent works on sim-to-real robot manipulation, which discuss how to train perception-driven manipulation policies in simulation, in such a way that they’re useful in the real world. - DextraH-RGB, from NVIDIA - Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation, also from NVIDIA — specifically the GEAR lab - Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids, another GEAR lab paper - Local Policies Enable Zero-shot Long-Horizon Manipulation, from CMU (video from DextrAH-RGB)
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A big part of scaling robot learning to solve real-world problems is that we somehow need to get enough diverse, high-quality data to train our robots to perform useful things. GPT and its fellow large language models were bootstrapped and proved out on a massive dataset of real-world language data. Unfortunately, despite our best efforts, similarly massive datasets don’t really exist for robotics — so, in our unending pursuit of high-quality, useful data, we turn to simulation. I compared a couple recent works on sim-to-real robot manipulation, which discuss how to train perception-driven manipulation policies in simulation, in such a way that they’re useful in the real world. - DextraH-RGB, from NVIDIA - Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation, also from NVIDIA — specifically the GEAR lab - Sim-to-Real Reinforcement Learning for Vision-Based Dexterous Manipulation on Humanoids, another GEAR lab paper - Local Policies Enable Zero-shot Long-Horizon Manipulation, from CMU (video from DextrAH-RGB)

Chris Paxton

20,486 görüntüleme • 1 yıl önce

Everything you love about generative models — now powered by real physics! Announcing the Genesis project — after a 24-month large-scale research collaboration involving over 20 research labs — a generative physics engine able to generate 4D dynamical worlds powered by a physics simulation platform designed for general-purpose robotics and physical AI applications. Genesis's physics engine is developed in pure Python, while being 10-80x faster than existing GPU-accelerated stacks like Isaac Gym and MJX. It delivers a simulation speed ~430,000 faster than in real-time, and takes only 26 seconds to train a robotic locomotion policy transferrable to the real world on a single RTX4090 (see tutorial: The Genesis physics engine and simulation platform is fully open source at We'll gradually roll out access to our generative framework in the near future. Genesis implements a unified simulation framework all from scratch, integrating a wide spectrum of state-of-the-art physics solvers, allowing simulation of the whole physical world in a virtual realm with the highest realism. We aim to build a universal data engine that leverages an upper-level generative framework to autonomously create physical worlds, together with various modes of data, including environments, camera motions, robotic task proposals, reward functions, robot policies, character motions, fully interactive 3D scenes, open-world articulated assets, and more, aiming towards fully automated data generation for robotics, physical AI and other applications. Open Source Code: Project webpage: Documentation: 1/n
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Everything you love about generative models — now powered by real physics! Announcing the Genesis project — after a 24-month large-scale research collaboration involving over 20 research labs — a generative physics engine able to generate 4D dynamical worlds powered by a physics simulation platform designed for general-purpose robotics and physical AI applications. Genesis's physics engine is developed in pure Python, while being 10-80x faster than existing GPU-accelerated stacks like Isaac Gym and MJX. It delivers a simulation speed ~430,000 faster than in real-time, and takes only 26 seconds to train a robotic locomotion policy transferrable to the real world on a single RTX4090 (see tutorial: The Genesis physics engine and simulation platform is fully open source at We'll gradually roll out access to our generative framework in the near future. Genesis implements a unified simulation framework all from scratch, integrating a wide spectrum of state-of-the-art physics solvers, allowing simulation of the whole physical world in a virtual realm with the highest realism. We aim to build a universal data engine that leverages an upper-level generative framework to autonomously create physical worlds, together with various modes of data, including environments, camera motions, robotic task proposals, reward functions, robot policies, character motions, fully interactive 3D scenes, open-world articulated assets, and more, aiming towards fully automated data generation for robotics, physical AI and other applications. Open Source Code: Project webpage: Documentation: 1/n

Zhou Xian

3,822,473 görüntüleme • 1 yıl önce

Introducing EdgeBench, a benchmark designed to study how agents learn from environments over at least 12~72-hour runs. We find that performance follows a log-sigmoid function of environment interaction time with high precision. EdgeBench is built with three ingredients: - 🌍 Real & Diverse: 134 real-world tasks across 6 task categories, spanning scientific problems, professional knowledge work, software engineering, optimization, formal math, and games. - ⏳ Ultra-Long-Horizon: Each task supports 12–72 hours of agent work. Recorded human effort averages 57.2 hours. - 🔁 Informative Feedback: Agents receive real-world feedback for continuous improvement. After 38,000 hours of agent runs on EdgeBench, a scaling law for learning from environments emerges: - 📈 As agents interact with task environments over time, their aggregate performance is precisely fit by a log-sigmoid function. - 🧠 This phenomenon can be explained by an elegant theory of graph exploration. We are releasing an initial 51 of the 134 tasks, together with the full evaluation framework, to help advance long-horizon agent research. Check our blog & paper for more findings! Blog Paper GitHub Dataset Details below 👇🧵
0:52

Introducing EdgeBench, a benchmark designed to study how agents learn from environments over at least 12~72-hour runs. We find that performance follows a log-sigmoid function of environment interaction time with high precision. EdgeBench is built with three ingredients: - 🌍 Real & Diverse: 134 real-world tasks across 6 task categories, spanning scientific problems, professional knowledge work, software engineering, optimization, formal math, and games. - ⏳ Ultra-Long-Horizon: Each task supports 12–72 hours of agent work. Recorded human effort averages 57.2 hours. - 🔁 Informative Feedback: Agents receive real-world feedback for continuous improvement. After 38,000 hours of agent runs on EdgeBench, a scaling law for learning from environments emerges: - 📈 As agents interact with task environments over time, their aggregate performance is precisely fit by a log-sigmoid function. - 🧠 This phenomenon can be explained by an elegant theory of graph exploration. We are releasing an initial 51 of the 134 tasks, together with the full evaluation framework, to help advance long-horizon agent research. Check our blog & paper for more findings! Blog Paper GitHub Dataset Details below 👇🧵

Deyao Zhu

363,512 görüntüleme • 3 ay önce

In my past research experience, finding or developing an appropriate simulation environment, dataset, and benchmark has always been a challenge. Missing features, limited support, or unexpected bugs often occupied my days and nights. Moreover, current simulation platforms are relatively fragmented—making it challenging to replicate the success of the RT-X dataset in unifying community efforts. Introducing RoboVerse, we provide a unified platform, dataset, and benchmark for scalable and generalizable robot learning. We hope to build a shared foundation to combine the community efforts. RoboVerse includes: MetaSim: We carefully designed a configuration system and a universal interface to align current robotic simulators. With MetaSim, you can use any simulator with the same code—bringing together the community’s diverse efforts under one framework! RoboVerse Dataset and Benchmark: We unify popular simulation environments and benchmarks into a single cohesive system and introduce the RoboVerse dataset—a large-scale, high-quality synthetic dataset. Additionally, we propose a standardized benchmark across both imitation learning and reinforcement learning. A cool feature enabled by our unified framework: Hybrid Simulation! You can now integrate physics engines and renderers from different simulators—e.g., using MuJoCo precise physics with Isaac photorealistic rendering. This not only elevates simulation fidelity but also significantly enhances real-world transfer performance across complex robotic applications. Hopefully, our team’s efforts could serve the robotic community to thrive vibrantly in the years to come. RoboVerse is open-sourced🥳!!! Project Page: Documentation: Github Repo: Paper:
2:21

In my past research experience, finding or developing an appropriate simulation environment, dataset, and benchmark has always been a challenge. Missing features, limited support, or unexpected bugs often occupied my days and nights. Moreover, current simulation platforms are relatively fragmented—making it challenging to replicate the success of the RT-X dataset in unifying community efforts. Introducing RoboVerse, we provide a unified platform, dataset, and benchmark for scalable and generalizable robot learning. We hope to build a shared foundation to combine the community efforts. RoboVerse includes: MetaSim: We carefully designed a configuration system and a universal interface to align current robotic simulators. With MetaSim, you can use any simulator with the same code—bringing together the community’s diverse efforts under one framework! RoboVerse Dataset and Benchmark: We unify popular simulation environments and benchmarks into a single cohesive system and introduce the RoboVerse dataset—a large-scale, high-quality synthetic dataset. Additionally, we propose a standardized benchmark across both imitation learning and reinforcement learning. A cool feature enabled by our unified framework: Hybrid Simulation! You can now integrate physics engines and renderers from different simulators—e.g., using MuJoCo precise physics with Isaac photorealistic rendering. This not only elevates simulation fidelity but also significantly enhances real-world transfer performance across complex robotic applications. Hopefully, our team’s efforts could serve the robotic community to thrive vibrantly in the years to come. RoboVerse is open-sourced🥳!!! Project Page: Documentation: Github Repo: Paper:

Haoran Geng

84,318 görüntüleme • 1 yıl önce

Introducing FLUX-mimic, a next-generation Video-Action Model for general purpose dexterity, developed in partnership with Black Forest Labs. Late last year we published mimic-video and introduced Video-Action Models (VAM): a new family of robotics foundation models built on top of video generation models. We showed that robot control reduces to visual prediction, and that robot capability is downstream of improvements in video modeling accuracy. The obvious implication was that advances in the video modeling frontier would directly translate to increased capabilities in end-to-end robot learning. FLUX-mimic is that thesis at frontier scale: We've applied our VAM architecture to the strongest video backbone available today, FLUX 3 from Black Forest Labs, and trained it on data from our own robots and wearables. General-purpose dexterity, running on a single GPU on premises. Because the model already understands world dynamics, it needs far fewer demonstrations to learn a new task. This is game-changing for our mission to deploy robots to factory floors, where industrial robot data is scarce and expensive to collect. We're now testing and deploying FLUX-mimic with manufacturing leaders like Audi USA, on complex, multi-step manipulation long considered impossible for conventional automation.
3:49

Introducing FLUX-mimic, a next-generation Video-Action Model for general purpose dexterity, developed in partnership with Black Forest Labs. Late last year we published mimic-video and introduced Video-Action Models (VAM): a new family of robotics foundation models built on top of video generation models. We showed that robot control reduces to visual prediction, and that robot capability is downstream of improvements in video modeling accuracy. The obvious implication was that advances in the video modeling frontier would directly translate to increased capabilities in end-to-end robot learning. FLUX-mimic is that thesis at frontier scale: We've applied our VAM architecture to the strongest video backbone available today, FLUX 3 from Black Forest Labs, and trained it on data from our own robots and wearables. General-purpose dexterity, running on a single GPU on premises. Because the model already understands world dynamics, it needs far fewer demonstrations to learn a new task. This is game-changing for our mission to deploy robots to factory floors, where industrial robot data is scarce and expensive to collect. We're now testing and deploying FLUX-mimic with manufacturing leaders like Audi USA, on complex, multi-step manipulation long considered impossible for conventional automation.

mimic

118,766 görüntüleme • 2 ay önce

What if we're approaching robotic manipulation all wrong? Ilya Sutskever makes a fascinating point here: Current approaches throw massive amounts of data at the problem — millions of simulation steps, huge compute. And still, robots can't match human dexterity. Real-world learning of new skills? "Very out of reach." Meanwhile, humans pick up manipulation tasks almost instantly. Our dexterity is unmatched. And we do it with remarkable robustness — no reward shaping, no curriculum design, no training instability. Why the gap? Evolution. 500M years of optimisation for locomotion, vision, and manipulation. For these ancient sensorimotor tasks, maybe brute-force data isn't the answer. Maybe we should be copying the biological algorithms that already solved it. CC: Dwarkesh Patel
1:40

What if we're approaching robotic manipulation all wrong? Ilya Sutskever makes a fascinating point here: Current approaches throw massive amounts of data at the problem — millions of simulation steps, huge compute. And still, robots can't match human dexterity. Real-world learning of new skills? "Very out of reach." Meanwhile, humans pick up manipulation tasks almost instantly. Our dexterity is unmatched. And we do it with remarkable robustness — no reward shaping, no curriculum design, no training instability. Why the gap? Evolution. 500M years of optimisation for locomotion, vision, and manipulation. For these ancient sensorimotor tasks, maybe brute-force data isn't the answer. Maybe we should be copying the biological algorithms that already solved it. CC: Dwarkesh Patel

Jack 🤖

31,262 görüntüleme • 10 ay önce

Introducing Praxis-1, an open-weight World Action Model that turns our video pre-training expertise into real world control for robots. Robot demonstration data is limited. But video data is infinite. Praxis-1 extends our bet that the best policy models will learn from video, and use that scale to bring embodied intelligence to every industry. Praxis-1 is built on our large-scale video pre-training and real-time infrastructure, and acts as a policy model for robotics developers and researchers that works across any embodiment or environment, no matter how complex. We are actively testing with early partners including Noble Machines, Standard Bots and Ultra, and will be releasing the weights publicly in the coming months. Learn more and request early access at
1:54

Introducing Praxis-1, an open-weight World Action Model that turns our video pre-training expertise into real world control for robots. Robot demonstration data is limited. But video data is infinite. Praxis-1 extends our bet that the best policy models will learn from video, and use that scale to bring embodied intelligence to every industry. Praxis-1 is built on our large-scale video pre-training and real-time infrastructure, and acts as a policy model for robotics developers and researchers that works across any embodiment or environment, no matter how complex. We are actively testing with early partners including Noble Machines, Standard Bots and Ultra, and will be releasing the weights publicly in the coming months. Learn more and request early access at

Runway

70,181 görüntüleme • 1 gün önce

If you want a vision encoder for dexterous manipulation, what should be the most important part to model? 🤔 Current standard models like CLIP, SigLIP, and DINOv2 have an incredible grasp of semantics and spatial details. But they lack the action-centric structure needed for downstream visuomotor control. But collecting annotated robotic trajectories at scale is SUPER expensive and largely unrealistic. So, how do we bridge this gap? We introduce CAIP (Contrastive Action-Image Pre-training) ⬇️ 🔸 Action-centric upstream: we align visual observations with action chunks through a contrastive objective. 🔸 Human video as a proxy: we represent 3D human hand poses analogously to robotic end-effector actions, tapping into a massive source of human demonstrations. 🔸 Massive scale: pre-trained on over 32,000 hours of manipulation video, driving both sample efficiency and robust generalization. 🔸 Hardware proven: achieves a 76% average success rate on a real-world Dexmate Vega bimanual Dexmate manipulator with dual 22-DoF Sharpa Wave hands Sharpa . 🔸 State-of-the-art: significantly outperforms strong baselines like DINOv2, SigLIP, MVP, and Qwen3.5 ViT across complex tasks, even under unexpected lighting changes and visual distractors. 🌐 Project: 📝 Blog: 📄 Paper: 💻 Model:
1:30

If you want a vision encoder for dexterous manipulation, what should be the most important part to model? 🤔 Current standard models like CLIP, SigLIP, and DINOv2 have an incredible grasp of semantics and spatial details. But they lack the action-centric structure needed for downstream visuomotor control. But collecting annotated robotic trajectories at scale is SUPER expensive and largely unrealistic. So, how do we bridge this gap? We introduce CAIP (Contrastive Action-Image Pre-training) ⬇️ 🔸 Action-centric upstream: we align visual observations with action chunks through a contrastive objective. 🔸 Human video as a proxy: we represent 3D human hand poses analogously to robotic end-effector actions, tapping into a massive source of human demonstrations. 🔸 Massive scale: pre-trained on over 32,000 hours of manipulation video, driving both sample efficiency and robust generalization. 🔸 Hardware proven: achieves a 76% average success rate on a real-world Dexmate Vega bimanual Dexmate manipulator with dual 22-DoF Sharpa Wave hands Sharpa . 🔸 State-of-the-art: significantly outperforms strong baselines like DINOv2, SigLIP, MVP, and Qwen3.5 ViT across complex tasks, even under unexpected lighting changes and visual distractors. 🌐 Project: 📝 Blog: 📄 Paper: 💻 Model:

Roei Herzig

26,538 görüntüleme • 3 ay önce

Today, we're joined by Nikita Rudin, co-founder and CEO of Flexion to discuss the gap between current robotic capabilities and what’s required to deploy fully autonomous robots in the real world. Nikita explains how reinforcement learning and simulation have driven rapid progress in robot locomotion—and why locomotion is still far from “solved.” We dig into the sim2real gap, and how adding visual inputs introduces noise and significantly complicates sim-to-real transfer. We also explore the debate between end-to-end models and modular approaches, and why separating locomotion, planning, and semantics remains a pragmatic approach today. Nikita also introduces the concept of "real-to-sim", which uses real-world data to refine simulation parameters for higher fidelity training, discusses how reinforcement learning, imitation learning, and teleoperation data are combined to train robust policies for both quadruped and humanoid robots, and introduces Flexion's hierarchical approach that utilizes pre-trained Vision-Language Models (VLMs) for high-level task orchestration with Vision-Language-Action (VLA) models and low-level whole-body trackers. Finally, Nikita shares the behind-the-scenes in humanoid robot demos, his take on reinforcement learning in simulation versus the real world, the nuances of reward tuning, and offers practical advice for researchers and practitioners looking to get started in robotics today. 🗒️ For the full list of resources for this episode, visit the show notes page: 📖 CHAPTERS =============================== 00:00 - Introduction 04:07 - Is robot locomotion solved? 06:04 - Sim-to-real gap 08:58 - Adding semantics to policies 09:42 - Modular vs end-to-end architectures 10:29 - Planner model 12:21 - Adapting RL techniques from quadrupeds to humanoids 15:39 - Behind robot demos 18:09 - Humanoid robots in home environments 22:03 - Training approach 23:56 - VLA models 27:59 - Closing the sim-to-real gap 32:55 - Task orchestration using VLMs 36:38 - Tool use 38:10 - Model hierarchy 43:37 - Simulator versus simulation environment 44:57 - Combining imitation learning and reinforcement learning 46:42 - RL in real world versus RL in simulation 52:58 - Reward tuning and value functions in robotics 56:38 - Predictions 1:00:10 - Humanoids, quadropeds, and wheeled platforms 1:02:45 - Advice, recommended robot kits, and community pla
1:06:07

Today, we're joined by Nikita Rudin, co-founder and CEO of Flexion to discuss the gap between current robotic capabilities and what’s required to deploy fully autonomous robots in the real world. Nikita explains how reinforcement learning and simulation have driven rapid progress in robot locomotion—and why locomotion is still far from “solved.” We dig into the sim2real gap, and how adding visual inputs introduces noise and significantly complicates sim-to-real transfer. We also explore the debate between end-to-end models and modular approaches, and why separating locomotion, planning, and semantics remains a pragmatic approach today. Nikita also introduces the concept of "real-to-sim", which uses real-world data to refine simulation parameters for higher fidelity training, discusses how reinforcement learning, imitation learning, and teleoperation data are combined to train robust policies for both quadruped and humanoid robots, and introduces Flexion's hierarchical approach that utilizes pre-trained Vision-Language Models (VLMs) for high-level task orchestration with Vision-Language-Action (VLA) models and low-level whole-body trackers. Finally, Nikita shares the behind-the-scenes in humanoid robot demos, his take on reinforcement learning in simulation versus the real world, the nuances of reward tuning, and offers practical advice for researchers and practitioners looking to get started in robotics today. 🗒️ For the full list of resources for this episode, visit the show notes page: 📖 CHAPTERS =============================== 00:00 - Introduction 04:07 - Is robot locomotion solved? 06:04 - Sim-to-real gap 08:58 - Adding semantics to policies 09:42 - Modular vs end-to-end architectures 10:29 - Planner model 12:21 - Adapting RL techniques from quadrupeds to humanoids 15:39 - Behind robot demos 18:09 - Humanoid robots in home environments 22:03 - Training approach 23:56 - VLA models 27:59 - Closing the sim-to-real gap 32:55 - Task orchestration using VLMs 36:38 - Tool use 38:10 - Model hierarchy 43:37 - Simulator versus simulation environment 44:57 - Combining imitation learning and reinforcement learning 46:42 - RL in real world versus RL in simulation 52:58 - Reward tuning and value functions in robotics 56:38 - Predictions 1:00:10 - Humanoids, quadropeds, and wheeled platforms 1:02:45 - Advice, recommended robot kits, and community pla

The TWIML AI Podcast

22,592 görüntüleme • 8 ay önce

We asked Mika Senghaas how RL environments need to change for better agents. His take: stop treating environments like static snapshots. Today, researchers manually define tasks and rewards. Prime Intellect is working toward a loop where agents solve tasks and help create harder ones. “Up to now, environments are still these static snapshots. The task in and of itself is sort of hard-coded.” “What gets really interesting is once we can fully close the loop.” “The policy you’re training is not only a solver... it also becomes an instance creating new tasks on the fly.”
1:32

We asked Mika Senghaas how RL environments need to change for better agents. His take: stop treating environments like static snapshots. Today, researchers manually define tasks and rewards. Prime Intellect is working toward a loop where agents solve tasks and help create harder ones. “Up to now, environments are still these static snapshots. The task in and of itself is sort of hard-coded.” “What gets really interesting is once we can fully close the loop.” “The policy you’re training is not only a solver... it also becomes an instance creating new tasks on the fly.”

MTS

15,324 görüntüleme • 4 ay önce

"One of the very confusing things about the models right now: how to reconcile the fact that they are doing so well on evals. And you look at the evals and you go, 'Those are pretty hard evals.' But the economic impact seems to be dramatically behind. There is [a possible] explanation. Back when people were doing pre-training, the question of what data to train on was answered, because that answer was everything. So you don't have to think if it's going to be this data or that data. When people do RL training, they say, 'Okay, we want to have this kind of RL training for this thing and that kind of RL training for that thing.' You say, 'Hey, I would love our model to do really well when we release it. I want the evals to look great. What would be RL training that could help on this task?' If you combine this with generalization of the models actually being inadequate, that has the potential to explain a lot of what we are seeing, this disconnect between eval performance and actual real-world performance"
2:21

"One of the very confusing things about the models right now: how to reconcile the fact that they are doing so well on evals. And you look at the evals and you go, 'Those are pretty hard evals.' But the economic impact seems to be dramatically behind. There is [a possible] explanation. Back when people were doing pre-training, the question of what data to train on was answered, because that answer was everything. So you don't have to think if it's going to be this data or that data. When people do RL training, they say, 'Okay, we want to have this kind of RL training for this thing and that kind of RL training for that thing.' You say, 'Hey, I would love our model to do really well when we release it. I want the evals to look great. What would be RL training that could help on this task?' If you combine this with generalization of the models actually being inadequate, that has the potential to explain a lot of what we are seeing, this disconnect between eval performance and actual real-world performance"

Dwarkesh Patel

502,696 görüntüleme • 10 ay önce

Modern AI is confined to the digital world. At Skild AI, we are building towards AGI for the real world, unconstrained by robot type or task — a single, omni-bodied brain. Today, we are sharing our journey, starting with early milestones, with more to come in the weeks ahead. Our Mission: Artificial General Intelligence grounded in the physical world. We believe AGI that can truly understand and reason in the real world can only be built through grounding in the physical world. Our Vision: Any robot, Any task, One brain. We tackle robotics in its full generality – building a continually improving, omni-bodied brain that can control any hardware for any task. Who are we? A passionate group of scientists & engineers driven by our shared vision. We have been researching AI and robotics for more than a decade. Our team includes pioneers of self-supervised learning, curiosity-driven exploration, end-to-end sim2real for visual locomotion, dexterous manipulation, learning from human videos, robot parkour, and many more. Many of these works have won awards at top-tier AI and Robotics conferences. Our team has also built production-ready systems at Anduril, Tesla, Nvidia, Meta, Kitty Hawk, Google, Everyday Robotics, and Amazon. Join us in our mission to build the robot brains of tomorrow.
2:48

Modern AI is confined to the digital world. At Skild AI, we are building towards AGI for the real world, unconstrained by robot type or task — a single, omni-bodied brain. Today, we are sharing our journey, starting with early milestones, with more to come in the weeks ahead. Our Mission: Artificial General Intelligence grounded in the physical world. We believe AGI that can truly understand and reason in the real world can only be built through grounding in the physical world. Our Vision: Any robot, Any task, One brain. We tackle robotics in its full generality – building a continually improving, omni-bodied brain that can control any hardware for any task. Who are we? A passionate group of scientists & engineers driven by our shared vision. We have been researching AI and robotics for more than a decade. Our team includes pioneers of self-supervised learning, curiosity-driven exploration, end-to-end sim2real for visual locomotion, dexterous manipulation, learning from human videos, robot parkour, and many more. Many of these works have won awards at top-tier AI and Robotics conferences. Our team has also built production-ready systems at Anduril, Tesla, Nvidia, Meta, Kitty Hawk, Google, Everyday Robotics, and Amazon. Join us in our mission to build the robot brains of tomorrow.

Skild AI

386,301 görüntüleme • 1 yıl önce