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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...

11,296 görüntüleme • 23 gün önce •via X (Twitter)

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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

23,236 görüntüleme • 6 ay önce

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 görüntüleme • 3 ay önce

If conservatism is not ultimately about economics, what is it about? 'The defence of the West.' This, in one short, simple phrase is as near as I can come to expressing the overall mission of conservatives now. That defence involves securing our nations against internal and external threats alike. I shall enlarge on those threats in a minute. But what are the core convictions we are defending? Not having time to pen a treatise, or even speak as long as a German politician, I shall set out my views with English brevity. We conservatives believe that man has a basic sense of right and wrong and an amazing creativity when free to apply his talents; but we also believe that his nature is flawed, such that without restraints applied by convention and law he will destroy himself and others. We believe in free, limited democratic government, as the framework most likely to minimise opportunities for mischief and abuse of power; but we scorn the association of vox populi with vox dei, knowing that no mere majority vote can make what is good bad or what is bad good. We understand that in some areas government has to be strong. It has to be prepared to use force to defend the nation's security. We appreciate the majesty and rituals and pomp of the state, operating in its proper sphere. But we also believe that what is public ultimately exists for what is private—that it is the family (not the state or nation or even the Church), which is the basic institution of our society, without which all the rest collapses. We are suspicious of attempts at institutional change, unless those institutions have become in their present form a threat to the whole future of the country—as the trade unions and nationalised industries were, for instance, in Britain when I became Prime Minister. We view the world in which we live as in need, not of re-ordering according to master plans devised by enlightened experts, but rather of constant renewal according to timeless truths and rich traditions. And so we are unashamedly patriots. For as Edmund Burke wrote two hundred years ago: “To be attached to the sub-division, to love the little platoon to which we belong in society, is the first principle of public affection. It is the first link in the series by which we proceed towards a love of our country and to mankind”. So here we stand. Rock solid. Rooted in a clear, tried, tested view of the world and the heavens and everything in them.

Margaret Thatcher

32,889 görüntüleme • 8 ay önce

Milestone! We (robotic arms for gadgets assembly) finished the first commercial order, which brought the first revenue. Here are some learnings from this: The customer was a smart toy manufacturer. The task was to add a heatsink to Raspberry Pi. We received parts from them and returned the assembled modules back. Currently, it's done by teleoperation. Later it will be done by a remote employee via the Internet. Then it will be automated action by action, reducing the operator's time on this and making the task profitable. ps. If you have an assembly task that we can do for you asynchronically - leave a comment below. Learning 1. It's possible! This task which is usually done by the human arm with 5 fingers can be done with a two-finger gripper with the addition of a couple of simple tooling. The task was not simplified. We peeled off thin films from stickers, unpacked paper boxes, moved PCB boards full of components, etc. And no unsolvable problems have been encountered yet. Challenges: 1) The paper box shifted during the opening Solved with the plastic walls that you can lean against 2) Heat pad, stuck to the gripper instead of heat sync. Can be solved by gripper with a pump, but this time solved with the patience of the operator 3) The film on the pad is very thin. Turned out that sub-millimeter arm precision is enough to peel it off with just a regular gripper. 4) The working area has not enough space. You'll only know this by doing real tasks in bulk. This could be solved by an extra pair of long arms, but in this case, solved with the patience of the operator. I think that in the end, we will have 5-10 types of universal tooling and 5-10 types of grippers to solve almost all the problems in such assembly tasks. Learning 2. It's slow. It took 5 times more time, than doing it with human hands. But the good news is there's a lot of room for improvement. We now have specific “time for task” metrics, which we will decrease with iterations. The main reasons for slowness: 1) To rotate the gripper to a steep angle you are forced to control one robot arm with two hands instead of using both arms. We can fix this by just making more room for rotations. 2) Grabbing PCB board with two arms is hard. A slight difference in rotation can break the board, and it's hard to control these angles visually. To solve this, the best way is to use force feedback so you can feel the pressure applied to the item. 3) Accuracy and steadiness is still can be improved We will try a metal version and double the motors to do this. 4) It is physically difficult for the human hands to move with such precision To solve this, we will add a pad for the hands like in surgical robots Learning 3. It's a good business model The "Factory in the cloud" is a good business model for this stage. You send us parts and we send back assembled modules. Currently, it's more convenient than sending a robot to your place, as we can iterate/fix the robot quickly and utilize it 100% of the time. When we polish the set-up over time - we can send robots to your place. So if we can assemble something for you in the USA with Chinese prices by using modern automation - leave a comment below.

Igor Kulakov

37,266 görüntüleme • 1 yıl önce