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we achieved some progress in the implementation of state inference inside octra , first we managed to implement continuous reasoning without clearing the circle memory, second we completed a pure resource model under which validators can verify and certify the execution flow of a set of useful work (in...

11,971 Aufrufe • vor 3 Monaten •via X (Twitter)

3 Kommentare

Profilbild von 0x
0xvor 3 Monaten

KEEP BUILDING LFG ethereum:0x4647e1fe715c9e23959022c2416c71867f5a6e80 will all be worth it

Profilbild von TECA
TECAvor 3 Monaten

This is the real deal. Can't wait to test the demo.

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Validatus.comvor 3 Monaten

Looking forward to the open-source demo. Seeing the architecture in practice will answer a lot of questions.

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In just one week, Binh and I trained a full-body Unitree G1. Here's a recap: 1. Secured a Unitree G1 humanoid through a LinkedIn post 2. Deployed TWIST2 full-body teleoperation pipelines 3. Adapted TWIST2 for Zed stereo camera & collected full-body teleoperation samples (carried by Binh ) 4. Adapted & fine-tuned NVIDIA Gr00T N1.5 VLA on the TWIST2 public datasets, which I fine-tuned on an 8xNVIDIA H100 Cluster. We picked Gr00T N1.5 as it was trained with Unitree G1 embodiment data. 5. Adapted the TWIST2 codebase to stream in the actions from Gr00T via ZMQ using a co-located NVIDIA H100 for ~200ms inference latency 6. Tested the model in sim, then deployed to the real-world Unitree G1. We streamed a training sample observation to the VLA (as we didn't want to break robot in case real observations were OOD) We were the first team in the world to deploy the full TWIST2 data collection pipeline to the unitree g1 :) Much more work ahead though, which I'll work on as a side-project over the next months: 1. Exploring the various types of 'world models': video backbones, dynamics models, v-jepa-2 models. I believe these will generalize better & train much more data-efficiently than VLM backbones 2. Speeding up inference - I believe low-latency robotics inference will be a big challenge. There are many works in video diffusion which I'd like to test (e.g. SageAttention, SparseAttention, Drifting Models). Perhaps also writing custom CUDA kernels. 3. Economics of inference scaling :) What will be the compute demands as we scale inference up to millions of humanoids? Will it run on edge or on distributed 'co-located' inference clusters? These are questions I'd like to answer. Adapted TWIST2 codebase: Adapted Gr00T-N1.5 codebase: The ETH Robotics Club are doing a cool GTC Golden ticket competition with NVIDIA , so this is my submission :) The DGX Spark compute will get me a long way with initial prototyping & especially working on inference optimization for next-gen Blackwell GPUs #NVIDIAGTC #GOLDENTICKET #ETHRC

Arnie Ramesh

24,672 Aufrufe • vor 8 Monaten

Cerebras inference is very fast. So fast that it changes how we think about configuring our LLMs for voice agent use cases. Kimi K2.6 is a 1T parameter reasoning model that Cerebras serves at 650 - 1,000 tokens per second (end-to-end throughput), with time to first token metrics as low as 150ms (latency). These numbers are two to three times faster than other similarly capable models. The biggest lever we get from this kind of speed is that we can use the model in reasoning mode, and still have excellent "time to first non-thinking token." This solves a big pain point we have in 2026 for voice agent use cases. Almost all recent innovation in post-training has focused on making models good at reasoning ("test time compute"). This is great, but it makes the user-facing model latency much, much slower. Which is a problem for conversational voice agents. We can run Kimi K2.6 with reasoning turned on, and get responses faster than other models produce with reasoning disabled. On my 30-turn voice agent benchmark, Kimi K2.6 with reasoning enabled ties GPT 5.1 and Haiku 4.5 with reasoning disabled, and is still about 200ms seconds faster! On my primary task agent benchmark, Kimi K2.6 is now the #2 model. It ranks just behind Gemini 3.5 Flash in "high" reasoning mode, and tied with GLM 5, Sonnet 4.6, and GPT 5.4 with reasoning set to "low." But Kimi K2.6 completes each turn in the agent loop in under 500ms. The other four models are all at least 3x slower. (Models only qualify for this benchmark if they can complete task turns at a P50 <4s.) A couple of other things that this speed buys us, for production voice agents: - Tool calls happen fast enough that we don't have to work around tool call latency in our pipeline design. - We can prompt the model to output structured data at the beginning of a response, followed by plain text for voice generation. This opens up possibilities like asking the model to do complex classification/generation tasks that influence the rest of the pipeline. For example, the model could create a detailed style prompt for a steerable TTS model, for each individual conversation turn. And, of course, you can use Kimi K2.6 with reasoning turned off. Cerebras calls this "instant" mode. Here's a video of a Cerebras Kimi K2.6 voice agent with voice-to-voice response time, measured at the client, under 500ms. This is the true response latency as perceived by the user, including all network and audio codec overhead, transcription and turn detection, Kimi K2.6 token generation, and voice generation. 500ms is, effectively, instant. So the Cerebras naming for this mode is a propos. :-)

kwindla

40,593 Aufrufe • vor 5 Monaten