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We can convert human videos to robot hand-object interaction trajectories in 4D. Enjoy! Paper: Website: Code: Authors:Bhawna Paliwal,Haritheja,Will Liang, Pieter Abbeel , Mahi Shafiullah 🏠🤖 , Jitendra MALIK

Jitendra MALIK

12,538 subscribers

73,782 Aufrufe • vor 3 Monaten •via X (Twitter)

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13 Kommentare

Profilbild von Ananth Sriram

Ananth Sriramvor 3 Monaten

One of the coolest parts of this work is how much of the pipeline now depends on strong 3D vision models (repurposed SAM 3D+ HaWoR). As perception and vision models keep improving on in-the-wild video, generating high-quality dexterous manipulation data from everyday human videos should get easier and more scalable. Better perception -> better data -> exponentially faster progress on robot dexterity.

Profilbild von Frank Dellaert

Frank Dellaertvor 3 Monaten

@berkeley_ai @bhawna_paliwal_ @HarithejaE @willjhliang @pabbeel @notmahi Amazing! Hoping that was not the original girl with pearl earring painting :-)

Profilbild von Sharpa

Sharpavor 3 Monaten

@bhawna_paliwal_ @HarithejaE @willjhliang @pabbeel @notmahi The speed of the robot is incredible. Very cool approach. That's a very practical and tangible use of the #Sharpa Wave!😃

Profilbild von Andy Wojcicki

Andy Wojcickivor 3 Monaten

@bhawna_paliwal_ @HarithejaE @willjhliang @pabbeel @notmahi interesting that the examples show actions where intuitive model of fluid dynamics is necessary for task completion, not just rough mimicry of motion. Even with the 🔨 - angle is off, the trajectory is off. This is the long tail for robotics.

Profilbild von Python Song

Python Songvor 3 Monaten

@bhawna_paliwal_ @HarithejaE @willjhliang @pabbeel @notmahi This is crucial, especially for dexterous hands, where data is extremely scarce. Once human-hand videos can be converted into robot data, we can move beyond RL-only training in simulation, and we can unlock nearly unlimited internet-scale data😂😂

Profilbild von Alex

Alexvor 3 Monaten

@DhruvDiddi @bhawna_paliwal_ @HarithejaE @willjhliang @pabbeel @notmahi @coldifl

Profilbild von Nikhil Nakhate

Nikhil Nakhatevor 3 Monaten

@bhawna_paliwal_ @HarithejaE @willjhliang @pabbeel @notmahi This is amazing! What’s the speed up on the robot video side?

Profilbild von Kavit Shah

Kavit Shahvor 3 Monaten

@SharpaRobotics @bhawna_paliwal_ @HarithejaE @willjhliang @pabbeel @notmahi Nice work Prof!

Profilbild von Marc

Marcvor 3 Monaten

@bhawna_paliwal_ @HarithejaE @willjhliang @pabbeel @notmahi Super usefull

Profilbild von Kosherha1al

Kosherha1alvor 3 Monaten

@bhawna_paliwal_ @HarithejaE @willjhliang @pabbeel @notmahi I’ve been working on VLAs and smaller frontier models and this is a game changer for training. Awesome work, digging into the white paper now.

Profilbild von Longsen Gao

Longsen Gaovor 3 Monaten

@bhawna_paliwal_ @HarithejaE @willjhliang @pabbeel @notmahi At the beginning (2 sec) of the video, it looks like the UR robot's elbow singularity occurred; you should incorporate some low-level controller to address that.

Profilbild von Samuel Shvartsman

Samuel Shvartsmanvor 3 Monaten

@bhawna_paliwal_ @HarithejaE @willjhliang @pabbeel @notmahi Impressive, will test out taking selfies on a unitree g1!

Profilbild von Yash

Yashvor 3 Monaten

@bhawna_paliwal_ @HarithejaE @willjhliang @pabbeel @notmahi woah this looks good

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RoboPapers

23,758 Aufrufe • vor 4 Tagen

Perhaps the "GPT-3 moment" for humanoid robots lies within vast amounts of human video data. UC Berkeley (Abbeel + Malik group) just released Do as I Do: a pipeline that takes monocular RGB human videos (ego + exo)->reconstructs hand-object interactions->retargets them to multi-fingered robotic hands, generating executable robot trajectories. It pushes success rates on real-world clips from ~25% to 71%, outperforming prior SOTA. This kind of human video->robot-complete data approach feels increasingly important for closing the data flywheel in humanoid/embodied AI.

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Zhi (Leo) Wang✈️IROS2026

114,334 Aufrufe • vor 4 Monaten

1/🧠Humans are the best robot data source — but video alone misses one thing: force. 2/🙁Tactile gloves capture force — but they're costly and block the real touch manipulation depends on. 3/💪Maybe the future of touch lives on your wrist: surface EMG reads the muscles that cause force — tactile sensing without ever touching a tactile sensor. 4/🔥Want a fully open-source framework — hardware + software — to train your own force-aware learn-from-human-data robot policy? 🚀We introduce ForceBand: Learning Forceful Manipulation with sEMG -- bring force into human videos with sEMG, for force-aware manipulation ⬇️ ✦ Zero-Shot Human-to-Robot Transfer ✦ Force Beyond Vision ✦ Free-Hand Force Sensing ✦ Collect by Anyone, Anytime, Anywhere ✦ Deploy on Any Robot, Any Camera, Any Environment ✦ Open-Source & Low-Cost & Easy-to-Implement Let's squeeze every bit of signal out of human data, and let robots feel the force! 🌐 Website: 📄 Paper: 💻 Code: 🎥 Video: 🧵 1/n

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Zhi (Leo) Wang

52,455 Aufrufe • vor 3 Monaten

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Sharpa

12,957 Aufrufe • vor 3 Monaten

Exciting updates on Project GR00T! We discover a systematic way to scale up robot data, tackling the most painful pain point in robotics. The idea is simple: human collects demonstration on a real robot, and we multiply that data 1000x or more in simulation. Let’s break it down: 1. We use Apple Vision Pro (yes!!) to give the human operator first person control of the humanoid. Vision Pro parses human hand pose and retargets the motion to the robot hand, all in real time. From the human’s point of view, they are immersed in another body like the Avatar. Teleoperation is slow and time-consuming, but we can afford to collect a small amount of data. 2. We use RoboCasa, a generative simulation framework, to multiply the demonstration data by varying the visual appearance and layout of the environment. In Jensen’s keynote video below, the humanoid is now placing the cup in hundreds of kitchens with a huge diversity of textures, furniture, and object placement. We only have 1 physical kitchen at the GEAR Lab in NVIDIA HQ, but we can conjure up infinite ones in simulation. 3. Finally, we apply MimicGen, a technique to multiply the above data even more by varying the motion of the robot. MimicGen generates vast number of new action trajectories based on the original human data, and filters out failed ones (e.g. those that drop the cup) to form a much larger dataset. To sum up, given 1 human trajectory with Vision Pro -> RoboCasa produces N (varying visuals) -> MimicGen further augments to NxM (varying motions). This is the way to trade compute for expensive human data by GPU-accelerated simulation. A while ago, I mentioned that teleoperation is fundamentally not scalable, because we are always limited by 24 hrs/robot/day in the world of atoms. Our new GR00T synthetic data pipeline breaks this barrier in the world of bits. Scaling has been so much fun for LLMs, and it's finally our turn to have fun in robotics! We are building tools to enable everyone in the ecosystem to scale up with us. Links in thread:

Jim Fan

364,670 Aufrufe • vor 2 Jahren

We trained a robot dog to balance and walk on top of a yoga ball purely in simulation, and then transfer zero-shot to the real world. No fine-tuning. Just works. I’m excited to announce DrEureka, an LLM agent that writes code to train robot skills in simulation, and writes more code to bridge the difficult simulation-reality gap. It fully automates the pipeline from new skill learning to real-world deployment. The Yoga ball task is particularly hard because it is not possible to accurately simulate the bouncy ball surface. Yet DrEureka has no trouble searching over a vast space of sim-to-real configurations, and enables the dog to steer the ball on various terrains, even walking sideways! Traditionally, the sim-to-real transfer is achieved by domain randomization, a tedious process that requires expert human roboticists to stare at every parameter and adjust by hand. Frontier LLMs like GPT-4 have tons of built-in physical intuition for friction, damping, stiffness, gravity, etc. We are (mildly) surprised to find that DrEureka can tune these parameters competently and explain its reasoning well. DrEureka builds on our prior work Eureka, the algorithm that teaches a 5-finger robot hand to do pen spinning. It takes one step further on our quest to automate the entire robot learning pipeline by an AI agent system. One model that outputs strings will supervise another model that outputs torque control. We open-source everything! Welcome you all to check out the paper, more videos, and try the codebase today: Code:

We trained a robot dog to balance and walk on top of a yoga ball purely in simulation, and then transfer zero-shot to the real world. No fine-tuning. Just works. I’m excited to announce DrEureka, an LLM agent that writes code to train robot skills in simulation, and writes more code to bridge the difficult simulation-reality gap. It fully automates the pipeline from new skill learning to real-world deployment. The Yoga ball task is particularly hard because it is not possible to accurately simulate the bouncy ball surface. Yet DrEureka has no trouble searching over a vast space of sim-to-real configurations, and enables the dog to steer the ball on various terrains, even walking sideways! Traditionally, the sim-to-real transfer is achieved by domain randomization, a tedious process that requires expert human roboticists to stare at every parameter and adjust by hand. Frontier LLMs like GPT-4 have tons of built-in physical intuition for friction, damping, stiffness, gravity, etc. We are (mildly) surprised to find that DrEureka can tune these parameters competently and explain its reasoning well. DrEureka builds on our prior work Eureka, the algorithm that teaches a 5-finger robot hand to do pen spinning. It takes one step further on our quest to automate the entire robot learning pipeline by an AI agent system. One model that outputs strings will supervise another model that outputs torque control. We open-source everything! Welcome you all to check out the paper, more videos, and try the codebase today: Code:

Jim Fan

909,210 Aufrufe • vor 2 Jahren

Synthetic data will provide the next trillion tokens to fuel our hungry models. I'm excited to announce MimicGen: massively scaling up data pipeline for robot learning! We multiply high-quality human data in simulation with digital twins. Using 50,000 training episodes across 18 tasks, multiple simulators, and even in the real-world! The idea is simple: 1. Humans tele-operate the robot to complete a task. It is extremely high-quality but also very slow and expensive. 2. We create a digital twin of the robot and the scene in high-fidelity, GPU-accelerated simulation. 3. We can now move objects around, replace with new assets, and even change the robot hand - basically augment the training data with procedural generation. 4. Export the successful episodes, and feed that to a neural network! You now have an near-infinite stream of data. One of the key reasons that robotics lags far behind other AI fields is the lack of data: you cannot scrape control signals from the internet. They simply don't exist in-the-wild. MimicGen shows the power of synthetic data and simulation to keep our scaling laws alive. I believe this principle apply beyond robotics. We are quickly exhausting the high-quality, real tokens from the web. Artificial intelligence from artificial data will be the way forward. We are big fans of the OSS community. As usual, we open-source everything, including the generated dataset! - Website: - Paper: - Dataset is hosted on HuggingFace (thanks AK!!): - Code: MimicGen is led by Ajay Mandlekar, deep dive in the thread:

Synthetic data will provide the next trillion tokens to fuel our hungry models. I'm excited to announce MimicGen: massively scaling up data pipeline for robot learning! We multiply high-quality human data in simulation with digital twins. Using 50,000 training episodes across 18 tasks, multiple simulators, and even in the real-world! The idea is simple: 1. Humans tele-operate the robot to complete a task. It is extremely high-quality but also very slow and expensive. 2. We create a digital twin of the robot and the scene in high-fidelity, GPU-accelerated simulation. 3. We can now move objects around, replace with new assets, and even change the robot hand - basically augment the training data with procedural generation. 4. Export the successful episodes, and feed that to a neural network! You now have an near-infinite stream of data. One of the key reasons that robotics lags far behind other AI fields is the lack of data: you cannot scrape control signals from the internet. They simply don't exist in-the-wild. MimicGen shows the power of synthetic data and simulation to keep our scaling laws alive. I believe this principle apply beyond robotics. We are quickly exhausting the high-quality, real tokens from the web. Artificial intelligence from artificial data will be the way forward. We are big fans of the OSS community. As usual, we open-source everything, including the generated dataset! - Website: - Paper: - Dataset is hosted on HuggingFace (thanks AK!!): - Code: MimicGen is led by Ajay Mandlekar, deep dive in the thread:

Jim Fan

332,238 Aufrufe • vor 2 Jahren

Can GPT-4 teach a robot hand to do pen spinning tricks better than you do? I'm excited to announce Eureka, an open-ended agent that designs reward functions for robot dexterity at super-human level. It’s like Voyager in the space of a physics simulator API! Eureka bridges the gap between high-level reasoning (coding) and low-level motor control. It is a “hybrid-gradient architecture”: a black box, inference-only LLM instructs a white box, learnable neural network. The outer loop runs GPT-4 to refine the reward function (gradient-free), while the inner loop runs reinforcement learning to train a robot controller (gradient-based). We are able to scale up Eureka thanks to IsaacGym, a GPU-accelerated physics simulator that speeds up reality by 1000x. On a benchmark suite of 29 tasks across 10 robots, Eureka rewards outperform expert human-written ones on 83% of the tasks by 52% improvement margin on average. We are surprised that Eureka is able to learn pen spinning tricks, which are very difficult even for CGI artists to animate frame by frame! Eureka also enables a new form of in-context RLHF, which is able to incorporate a human operator’s feedback in natural language to steer and align the reward functions. It can serve as a powerful co-pilot for robot engineers to design sophisticated motor behaviors. As usual, we open-source everything! Welcome you all to check out our video gallery and try the codebase today: Paper: Code: Deep dive with me: 🧵

Can GPT-4 teach a robot hand to do pen spinning tricks better than you do? I'm excited to announce Eureka, an open-ended agent that designs reward functions for robot dexterity at super-human level. It’s like Voyager in the space of a physics simulator API! Eureka bridges the gap between high-level reasoning (coding) and low-level motor control. It is a “hybrid-gradient architecture”: a black box, inference-only LLM instructs a white box, learnable neural network. The outer loop runs GPT-4 to refine the reward function (gradient-free), while the inner loop runs reinforcement learning to train a robot controller (gradient-based). We are able to scale up Eureka thanks to IsaacGym, a GPU-accelerated physics simulator that speeds up reality by 1000x. On a benchmark suite of 29 tasks across 10 robots, Eureka rewards outperform expert human-written ones on 83% of the tasks by 52% improvement margin on average. We are surprised that Eureka is able to learn pen spinning tricks, which are very difficult even for CGI artists to animate frame by frame! Eureka also enables a new form of in-context RLHF, which is able to incorporate a human operator’s feedback in natural language to steer and align the reward functions. It can serve as a powerful co-pilot for robot engineers to design sophisticated motor behaviors. As usual, we open-source everything! Welcome you all to check out our video gallery and try the codebase today: Paper: Code: Deep dive with me: 🧵

Jim Fan

2,677,515 Aufrufe • vor 2 Jahren

We RL'ed humanoid robots to Cristiano Ronaldo, LeBron James, and Kobe Byrant! These are neural nets running on real hardware at our GEAR lab. Most robot demos you see online speed videos up. We actually *slow them down* so you can enjoy the fluid motions. I'm excited to announce "ASAP", a "real2sim2real" model that masters extremely smooth and dynamic motions for humanoid whole body control. We pretrain the robot in simulation first, but there is a notorious "sim2real" gap: it's very difficult for hand-engineered physics equations to match real world dynamics. Our fix is simple: just deploy a pretrained policy on real hardware, collect data, and replay the motion in sim. The replay will obviously have many errors, but that gives a rich signal to compensate for the physics discrepancy. Use another neural net to learn the delta. Basically, we "patch up" a traditional physics engine, so that the robot can experience almost the real world at scale in GPUs. The future is hybrid simulation: combine the power of classical sim engines refined over decades and the uncanny ability of modern NNs to capture a messy world.

We RL'ed humanoid robots to Cristiano Ronaldo, LeBron James, and Kobe Byrant! These are neural nets running on real hardware at our GEAR lab. Most robot demos you see online speed videos up. We actually slow them down so you can enjoy the fluid motions. I'm excited to announce "ASAP", a "real2sim2real" model that masters extremely smooth and dynamic motions for humanoid whole body control. We pretrain the robot in simulation first, but there is a notorious "sim2real" gap: it's very difficult for hand-engineered physics equations to match real world dynamics. Our fix is simple: just deploy a pretrained policy on real hardware, collect data, and replay the motion in sim. The replay will obviously have many errors, but that gives a rich signal to compensate for the physics discrepancy. Use another neural net to learn the delta. Basically, we "patch up" a traditional physics engine, so that the robot can experience almost the real world at scale in GPUs. The future is hybrid simulation: combine the power of classical sim engines refined over decades and the uncanny ability of modern NNs to capture a messy world.

Jim Fan

567,404 Aufrufe • vor 1 Jahr

$I made Physical AutoResearch sound simple (conceptually), but it took a village to pull off and lots of design thinking into the robot /loopcraft. The hardest part is everything we need to setup *before* pressing Enter. Here's a behind-the-scene tour: 1. Safety harness Letting 8 robots run unattended overnight means safety has to be more than a hint in the system prompt. ENPIRE hardwires it in 2 layers: (1) hard kinematic limit that trips an immediate task failure and auto-resets as soon as a robot leaves its safety envelope, and (2) a torque-limited compliant gripper so a bad contact or misaligned insertion ends in a safe stall, instead of crushing the robot or the object at hand. We make safety more conservative than usual so humans can sleep tight. In reality, we still need a few human operators to watch over the "robots of loving grace". 2. Definition of /done An agent that can edit its own reward will game it for sure. ENPIRE fixes the goalposts before the fleet can move them. Here's the recipe: Collect a few minutes of success & failure demos -> Ask agent to write code using computer vision tools to classify success and measure against groundtruth -> Agent hill-climbs on classifier until reliably good -> This classifier becomes the real-time reward function that directly computes on sensor streams -> *Freeze* the reward function before AutoResearch. It's sacred, enshrined in a Gym env that no one can touch. 3. System telemetry design Robot-seconds is by far the scarcest resource, followed by GPU-seconds, and finally tokens. We instrument all three and surface them to ENPIRE for live resource awareness rather than letting it hill-climb in a vacuum. We define: - Mean Robot Utilization ("MRU"): the fraction of wall-clock time when the robot is actively executing an experiment. Otherwise the hardware is sitting idle and waiting for the next code commit. - Mean Token Utilization ("MTU"): tokens consumed per minute, our proxy for how hard the agent is actually thinking. A low MTU means the agent is stalled, waiting on a robot rollout to finish instead of doing research. - GPU utilization: fraction of wall-clock time when GPU is active. ... and evaluate on two budget-to-outcome metrics: 1. Tokens-to-Success: token budget the fleet burns to complete /goal. 2. Time-to-Success: wall-clock time to /goal$

I made Physical AutoResearch sound simple (conceptually), but it took a village to pull off and lots of design thinking into the robot /loopcraft. The hardest part is everything we need to setup before pressing Enter. Here's a behind-the-scene tour: 1. Safety harness Letting 8 robots run unattended overnight means safety has to be more than a hint in the system prompt. ENPIRE hardwires it in 2 layers: (1) hard kinematic limit that trips an immediate task failure and auto-resets as soon as a robot leaves its safety envelope, and (2) a torque-limited compliant gripper so a bad contact or misaligned insertion ends in a safe stall, instead of crushing the robot or the object at hand. We make safety more conservative than usual so humans can sleep tight. In reality, we still need a few human operators to watch over the "robots of loving grace". 2. Definition of /done An agent that can edit its own reward will game it for sure. ENPIRE fixes the goalposts before the fleet can move them. Here's the recipe: Collect a few minutes of success & failure demos -> Ask agent to write code using computer vision tools to classify success and measure against groundtruth -> Agent hill-climbs on classifier until reliably good -> This classifier becomes the real-time reward function that directly computes on sensor streams -> Freeze the reward function before AutoResearch. It's sacred, enshrined in a Gym env that no one can touch. 3. System telemetry design Robot-seconds is by far the scarcest resource, followed by GPU-seconds, and finally tokens. We instrument all three and surface them to ENPIRE for live resource awareness rather than letting it hill-climb in a vacuum. We define: - Mean Robot Utilization ("MRU"): the fraction of wall-clock time when the robot is actively executing an experiment. Otherwise the hardware is sitting idle and waiting for the next code commit. - Mean Token Utilization ("MTU"): tokens consumed per minute, our proxy for how hard the agent is actually thinking. A low MTU means the agent is stalled, waiting on a robot rollout to finish instead of doing research. - GPU utilization: fraction of wall-clock time when GPU is active. ... and evaluate on two budget-to-outcome metrics: 1. Tokens-to-Success: token budget the fleet burns to complete /goal. 2. Time-to-Success: wall-clock time to /goal

Jim Fan

109,435 Aufrufe • vor 3 Monaten

Announcing DreamDojo: our open-source, interactive world model that takes robot motor controls and generates the future in pixels. No engine, no meshes, no hand-authored dynamics. It's Simulation 2.0. Time for robotics to take the bitter lesson pill. Real-world robot learning is bottlenecked by time, wear, safety, and resets. If we want Physical AI to move at pretraining speed, we need a simulator that adapts to pretraining scale with as little human engineering as possible. Our key insights: (1) human egocentric videos are a scalable source of first-person physics; (2) latent actions make them "robot-readable" across different hardware; (3) real-time inference unlocks live teleop, policy eval, and test-time planning *inside* a dream. We pre-train on 44K hours of human videos: cheap, abundant, and collected with zero robot-in-the-loop. Humans have already explored the combinatorics: we grasp, pour, fold, assemble, fail, retry—across cluttered scenes, shifting viewpoints, changing light, and hour-long task chains—at a scale no robot fleet could match. The missing piece: these videos have no action labels. So we introduce latent actions: a unified representation inferred directly from videos that captures "what changed between world states" without knowing the underlying hardware. This lets us train on any first-person video as if it came with motor commands attached. As a result, DreamDojo generalizes zero-shot to objects and environments never seen in any robot training set, because humans saw them first. Next, we post-train onto each robot to fit its specific hardware. Think of it as separating "how the world looks and behaves" from "how this particular robot actuates." The base model follows the general physical rules, then "snaps onto" the robot's unique mechanics. It's kind of like loading a new character and scene assets into Unreal Engine, but done through gradient descent and generalizes far beyond the post-training dataset. A world simulator is only useful if it runs fast enough to close the loop. We train a real-time version of DreamDojo that runs at 10 FPS, stable for over a minute of continuous rollout. This unlocks exciting possibilities: - Live teleoperation *inside* a dream. Connect a VR controller, stream actions into DreamDojo, and teleop a virtual robot in real time. We demo this on Unitree G1 with a PICO headset and one RTX 5090. - Policy evaluation. You can benchmark a policy checkpoint in DreamDojo instead of the real world. The simulated success rates strongly correlate with real-world results - accurate enough to rank checkpoints without burning a single motor. - Model-based planning. Sample multiple action proposals → simulate them all in parallel → pick the best future. Gains +17% real-world success out of the box on a fruit packing task. We open-source everything!! Weights, code, post-training dataset, eval set, and whitepaper with tons of details to reproduce. DreamDojo is based on NVIDIA Cosmos, which is open-weight too. 2026 is the year of World Models for physical AI. We want you to build with us. Happy scaling! Links in thread:

Announcing DreamDojo: our open-source, interactive world model that takes robot motor controls and generates the future in pixels. No engine, no meshes, no hand-authored dynamics. It's Simulation 2.0. Time for robotics to take the bitter lesson pill. Real-world robot learning is bottlenecked by time, wear, safety, and resets. If we want Physical AI to move at pretraining speed, we need a simulator that adapts to pretraining scale with as little human engineering as possible. Our key insights: (1) human egocentric videos are a scalable source of first-person physics; (2) latent actions make them "robot-readable" across different hardware; (3) real-time inference unlocks live teleop, policy eval, and test-time planning inside a dream. We pre-train on 44K hours of human videos: cheap, abundant, and collected with zero robot-in-the-loop. Humans have already explored the combinatorics: we grasp, pour, fold, assemble, fail, retry—across cluttered scenes, shifting viewpoints, changing light, and hour-long task chains—at a scale no robot fleet could match. The missing piece: these videos have no action labels. So we introduce latent actions: a unified representation inferred directly from videos that captures "what changed between world states" without knowing the underlying hardware. This lets us train on any first-person video as if it came with motor commands attached. As a result, DreamDojo generalizes zero-shot to objects and environments never seen in any robot training set, because humans saw them first. Next, we post-train onto each robot to fit its specific hardware. Think of it as separating "how the world looks and behaves" from "how this particular robot actuates." The base model follows the general physical rules, then "snaps onto" the robot's unique mechanics. It's kind of like loading a new character and scene assets into Unreal Engine, but done through gradient descent and generalizes far beyond the post-training dataset. A world simulator is only useful if it runs fast enough to close the loop. We train a real-time version of DreamDojo that runs at 10 FPS, stable for over a minute of continuous rollout. This unlocks exciting possibilities: - Live teleoperation inside a dream. Connect a VR controller, stream actions into DreamDojo, and teleop a virtual robot in real time. We demo this on Unitree G1 with a PICO headset and one RTX 5090. - Policy evaluation. You can benchmark a policy checkpoint in DreamDojo instead of the real world. The simulated success rates strongly correlate with real-world results - accurate enough to rank checkpoints without burning a single motor. - Model-based planning. Sample multiple action proposals → simulate them all in parallel → pick the best future. Gains +17% real-world success out of the box on a fruit packing task. We open-source everything!! Weights, code, post-training dataset, eval set, and whitepaper with tons of details to reproduce. DreamDojo is based on NVIDIA Cosmos, which is open-weight too. 2026 is the year of World Models for physical AI. We want you to build with us. Happy scaling! Links in thread:

Jim Fan

229,512 Aufrufe • vor 7 Monaten

I'm observing a mini Moravec's paradox within robotics: gymnastics that are difficult for humans are much easier for robots than "unsexy" tasks like cooking, cleaning, and assembling. It leads to a cognitive dissonance for people outside the field, "so, robots can parkour & breakdance, but why can't they take care of my dog?" Trust me, I got asked by my parents about this more than you think ... The "Robot Moravec's paradox" also creates the illusion that physical AI capabilities are way more advanced than they truly are. I'm not singling out Unitree, as it applies widely to all recent acrobatic demos in the industry. Here's a simple test: if you set up a wall in front of the side-flipping robot, it will slam into it at full force and make a spectacle. Because it's just overfitting that single reference motion, without any awareness of the surroundings. Here's why the paradox exists: it's much easier to train a "blind gymnast" than a robot that sees and manipulates. The former can be solved entirely in simulation and transferred zero-shot to the real world, while the latter demands extremely realistic rendering, contact physics, and messy real-world object dynamics - none of which can be simulated well. Imagine you can train LLMs not from the internet, but from a purely hand-crafted text console game. Roboticists got lucky. We happen to live in a world where accelerated physics engines are so good that we can get away with impressive acrobatics using literally zero real data. But we haven't yet discovered the same cheat code for general dexterity. Till then, we'll still get questioned by our confused parents.

I'm observing a mini Moravec's paradox within robotics: gymnastics that are difficult for humans are much easier for robots than "unsexy" tasks like cooking, cleaning, and assembling. It leads to a cognitive dissonance for people outside the field, "so, robots can parkour & breakdance, but why can't they take care of my dog?" Trust me, I got asked by my parents about this more than you think ... The "Robot Moravec's paradox" also creates the illusion that physical AI capabilities are way more advanced than they truly are. I'm not singling out Unitree, as it applies widely to all recent acrobatic demos in the industry. Here's a simple test: if you set up a wall in front of the side-flipping robot, it will slam into it at full force and make a spectacle. Because it's just overfitting that single reference motion, without any awareness of the surroundings. Here's why the paradox exists: it's much easier to train a "blind gymnast" than a robot that sees and manipulates. The former can be solved entirely in simulation and transferred zero-shot to the real world, while the latter demands extremely realistic rendering, contact physics, and messy real-world object dynamics - none of which can be simulated well. Imagine you can train LLMs not from the internet, but from a purely hand-crafted text console game. Roboticists got lucky. We happen to live in a world where accelerated physics engines are so good that we can get away with impressive acrobatics using literally zero real data. But we haven't yet discovered the same cheat code for general dexterity. Till then, we'll still get questioned by our confused parents.

Jim Fan

398,883 Aufrufe • vor 1 Jahr

The sense of touch is the most criminally under-explored modality in robotics. Imagine doing sleight of hand wearing thick oven mitts. That's exactly how a robot feels today if it were alive. A magnetic piece snapping into place, a paper cup peeling out of a stack, a USB negotiating its way into the port - all invisible to the camera. Learning how to feel must be a full-stack co-designed effort. We are open-sourcing a principled methodology called "T-Rex": 1. Tactile as first-class citizen of the model. Our mixture-of-transformer runs two clocks asynchronously: a slow visuomotor expert plans the motion, and a fast tactile expert refines it in real time with high-frequency corrections at 4 "touch ticks" per vision tick. Forces change faster than frames arrive, so the architecture had to as well. 2. Open data. The largest tactile dataset ever released to our knowledge: a 50-hour (~5,500 episodes) high-quality, carefully synchronized robot play corpus, collected on SOTA tactile hand hardware with 22 degrees of freedom. Available today on HuggingFace! 3. Training recipe: T-Rex extends our prior work, EgoScale. Human egocentric videos for pretraining, a diverse dose of tactile robot play for mid-training. Our experiments show this bridges contact-free pretraining to contact-rich manipulation remarkably well. Pixels are cheap and everywhere, but they run out of steam at the moment of contact. Tactile will carry the last mile. The next scaling curve will be measured in hours of touch. T-Rex is a great collaboration between NVIDIA and Berkeley: 🧵

The sense of touch is the most criminally under-explored modality in robotics. Imagine doing sleight of hand wearing thick oven mitts. That's exactly how a robot feels today if it were alive. A magnetic piece snapping into place, a paper cup peeling out of a stack, a USB negotiating its way into the port - all invisible to the camera. Learning how to feel must be a full-stack co-designed effort. We are open-sourcing a principled methodology called "T-Rex": 1. Tactile as first-class citizen of the model. Our mixture-of-transformer runs two clocks asynchronously: a slow visuomotor expert plans the motion, and a fast tactile expert refines it in real time with high-frequency corrections at 4 "touch ticks" per vision tick. Forces change faster than frames arrive, so the architecture had to as well. 2. Open data. The largest tactile dataset ever released to our knowledge: a 50-hour (~5,500 episodes) high-quality, carefully synchronized robot play corpus, collected on SOTA tactile hand hardware with 22 degrees of freedom. Available today on HuggingFace! 3. Training recipe: T-Rex extends our prior work, EgoScale. Human egocentric videos for pretraining, a diverse dose of tactile robot play for mid-training. Our experiments show this bridges contact-free pretraining to contact-rich manipulation remarkably well. Pixels are cheap and everywhere, but they run out of steam at the moment of contact. Tactile will carry the last mile. The next scaling curve will be measured in hours of touch. T-Rex is a great collaboration between NVIDIA and Berkeley: 🧵

Jim Fan

176,952 Aufrufe • vor 1 Monat

Today, we’re announcing the first major discovery made by our AI Scientist with the lab in the loop: a promising new treatment for dry AMD, a major cause of blindness. Our agents generated the hypotheses, designed the experiments, analyzed the data, iterated, even made figures for the paper. The resulting manuscript is a first-of-a-kind in the natural sciences, in which everything that needed to be done to write the paper was done by AI agents, apart from actually conducting the physical experiments in the lab and writing the final manuscript. We are also introducing Robin, the first multi-agent system that fully automates the in-silico components of scientific discovery, which made this discovery. This is the first time that we are aware of that hypothesis generation, experimentation, and data analysis have been joined up in closed loop, and is the beginning of a massive acceleration in the pace of scientific discovery that will be driven by these agents. We will be open-sourcing the code and data next week. Robin is a multi-agent system that uses Crow, Falcon, and Finch, the agents on our platform, to generate novel hypotheses, plan experiments, and analyze data. We asked Robin to find a new treatment for dry age-related macular degeneration. Robin considered the disease mechanisms associated with dry AMD, proposed a specific experimental assay that could be used to evaluate hypotheses in the wet lab, and proposed specific molecules we could test in that assay. We tested the molecules and gave it the resulting data, which it analyzed before proposing more experiments. In the end, it identified Ripasudil, a Rho Kinase inhibitor (ROCK inhibitor) that is approved in Japan for several other diseases, which seems very promising as potential treatment for dry AMD. It also identified specific molecular mechanisms that might underlie the effects of Ripasudil in RPE cells, from an RNA sequencing experiment it proposed. To be clear, no one has proposed using ROCK inhibitors to treat dry AMD in the literature before, as far as we can find, and I think it would have been very difficult for us to come up with this hypothesis without the agents. We have also run the proposed treatment by several experts in AMD, who confirm that it is interesting and novel. Moreover, this project was fast: with Robin in hand, the entire project took about 10 weeks, which is way shorter than it would have taken if we had been doing all of the in-silico components ourselves. Important caveats: We are real biologists at FutureHouse, so I want to be clear that although the discovery here is exciting, we are not claiming that we have cured dry AMD. Fully validating this hypothesis as a treatment for dry AMD will take human trials, which will take much longer. Also, this discovery is cool, but it is not yet a "move 37"-style discovery. At the current rate of progress, I'm sure we will get to that level soon. Congratulations to the team. Congratulations in particular to Robin, which generated the hypotheses, proposed the experiments, analyzed the data and generated the figures. And major congratulations also to the human team, which built Robin: Michaela Hinks, Ali Ghareeb, Benjamin Chang, Ludovico Mitchener, Mo Razzak, Kiki Szostkiewicz, and Angela Yiu.

Today, we’re announcing the first major discovery made by our AI Scientist with the lab in the loop: a promising new treatment for dry AMD, a major cause of blindness. Our agents generated the hypotheses, designed the experiments, analyzed the data, iterated, even made figures for the paper. The resulting manuscript is a first-of-a-kind in the natural sciences, in which everything that needed to be done to write the paper was done by AI agents, apart from actually conducting the physical experiments in the lab and writing the final manuscript. We are also introducing Robin, the first multi-agent system that fully automates the in-silico components of scientific discovery, which made this discovery. This is the first time that we are aware of that hypothesis generation, experimentation, and data analysis have been joined up in closed loop, and is the beginning of a massive acceleration in the pace of scientific discovery that will be driven by these agents. We will be open-sourcing the code and data next week. Robin is a multi-agent system that uses Crow, Falcon, and Finch, the agents on our platform, to generate novel hypotheses, plan experiments, and analyze data. We asked Robin to find a new treatment for dry age-related macular degeneration. Robin considered the disease mechanisms associated with dry AMD, proposed a specific experimental assay that could be used to evaluate hypotheses in the wet lab, and proposed specific molecules we could test in that assay. We tested the molecules and gave it the resulting data, which it analyzed before proposing more experiments. In the end, it identified Ripasudil, a Rho Kinase inhibitor (ROCK inhibitor) that is approved in Japan for several other diseases, which seems very promising as potential treatment for dry AMD. It also identified specific molecular mechanisms that might underlie the effects of Ripasudil in RPE cells, from an RNA sequencing experiment it proposed. To be clear, no one has proposed using ROCK inhibitors to treat dry AMD in the literature before, as far as we can find, and I think it would have been very difficult for us to come up with this hypothesis without the agents. We have also run the proposed treatment by several experts in AMD, who confirm that it is interesting and novel. Moreover, this project was fast: with Robin in hand, the entire project took about 10 weeks, which is way shorter than it would have taken if we had been doing all of the in-silico components ourselves. Important caveats: We are real biologists at FutureHouse, so I want to be clear that although the discovery here is exciting, we are not claiming that we have cured dry AMD. Fully validating this hypothesis as a treatment for dry AMD will take human trials, which will take much longer. Also, this discovery is cool, but it is not yet a "move 37"-style discovery. At the current rate of progress, I'm sure we will get to that level soon. Congratulations to the team. Congratulations in particular to Robin, which generated the hypotheses, proposed the experiments, analyzed the data and generated the figures. And major congratulations also to the human team, which built Robin: Michaela Hinks, Ali Ghareeb, Benjamin Chang, Ludovico Mitchener, Mo Razzak, Kiki Szostkiewicz, and Angela Yiu.

Sam Rodriques

1,108,146 Aufrufe • vor 1 Jahr

2026 - Humanoids Robotics is moving very fast, because the prize is so large. This week we have seen a humanoid run 100m in 9.38 seconds (Usain Bolt can’t outrun them), they have done >2m standing jumps. Below they play tennis with better hand eye coordination than 99% of people. By 2030 the common humanoid will be faster, stronger and more coordinated than all humans. Athletics is having its Deep Blue moment… in China. Then can talk to each other at 5G data rates, they can pool their compute into a single brain. These robots cost $10-20,000 in China (the Unitree G1 has a “buy now” button on their website for $13,500), looking at these Games, it looks like the embodiment revolution has already started in China. Nobody has caught modern China in any sort of industrial or technological race before. Since the 90s China has always been fastest, but has almost always been behind. Here China is clearly ahead… and still going at China speed. Sitting around and talking about what to do, isn’t going to change much. A competitive ‘Sans Sino’ robot is the only thing that can displace China’s structural demographic and industrial advantages. Humanoids are an opportunity to rebuild your industrial base. It looks like some time before 2040 the main substrate of the global economy won’t be people. The thing needed for this to scale? Energy, or rather electricity, or as we should call it… exergy We need to build a high exergy, low entropy industrial base, currently nobody has one. Sounds weird, but if you understand these two words you know what I mean. Below is what the application layer of AI looks like in 2026, it’s not apps, or even screens. In fact peak screen time might be behind us. The next time this athletics event happens it’s going to start looking less human and more alien.

2026 - Humanoids Robotics is moving very fast, because the prize is so large. This week we have seen a humanoid run 100m in 9.38 seconds (Usain Bolt can’t outrun them), they have done >2m standing jumps. Below they play tennis with better hand eye coordination than 99% of people. By 2030 the common humanoid will be faster, stronger and more coordinated than all humans. Athletics is having its Deep Blue moment… in China. Then can talk to each other at 5G data rates, they can pool their compute into a single brain. These robots cost $10-20,000 in China (the Unitree G1 has a “buy now” button on their website for $13,500), looking at these Games, it looks like the embodiment revolution has already started in China. Nobody has caught modern China in any sort of industrial or technological race before. Since the 90s China has always been fastest, but has almost always been behind. Here China is clearly ahead… and still going at China speed. Sitting around and talking about what to do, isn’t going to change much. A competitive ‘Sans Sino’ robot is the only thing that can displace China’s structural demographic and industrial advantages. Humanoids are an opportunity to rebuild your industrial base. It looks like some time before 2040 the main substrate of the global economy won’t be people. The thing needed for this to scale? Energy, or rather electricity, or as we should call it… exergy We need to build a high exergy, low entropy industrial base, currently nobody has one. Sounds weird, but if you understand these two words you know what I mean. Below is what the application layer of AI looks like in 2026, it’s not apps, or even screens. In fact peak screen time might be behind us. The next time this athletics event happens it’s going to start looking less human and more alien.

Object Zero

12,614 Aufrufe • vor 1 Monat

📢 AIRDROP 333 $BANMAO 🎁 👉Like ❤️ + Repost 🔁 + Follow 🐱 banmao 🐱🍌 👉Comment your XLayer wallet address 👇 🚀 BANMAO RPS - The FIRST GameFi & Childhood Rock-Paper-Scissors Triumphs on X Layer! ✊🖐✌️ 💬Dear Gamers, We are thrilled to announce the official launch of BANMAO RPS – a GameFi version of the timeless, beloved classic, Rock-Paper-Scissors, now available on the X Layer network! 🎉 BANMAO RPS is proud to be the FIRST GameFi project on X Layer! 🌟 What Makes BANMAO RPS SPECIAL? Simple & Easy to Play: 🎮 No complex learning curve, just pick Rock, Paper, or Scissors. Easy to approach, endless fun! Ultra-Low Cost on X Layer: 💰 Enjoy a near-free transaction experience thanks to the optimization of the X Layer network. Let's unlock the flow of X Layer together! 🌊 Multi-Language Support: The current website supports 7 languages. Eye-Catching Interface: 🎨 Modern, intuitive game design that offers a delightful visual experience. Completely Decentralized & Transparent: 🔗 Open Source Smart Contract. No backdoors or abusive Admin privileges. 🛡️ Everything is Community-Driven: Game results are determined in a decentralized manner; no one can interfere or cheat. ⚖️ 📜 Contract Address & Verification Transparency is our top priority! You can verify the source code and game logic here: BANMAO RPS Contract: 🤝 Join the Community & Develop Together! Let's put the past aside, respect differences, and look towards the future with $BANMAO. Become part of a growing community where fun and decentralization meet! 🌍✨ Download OKX Wallet 📲 and search for " in the dApp section. Or visit the website directly: 🌐 🙏 Big Thanks to DOREMON (ＤＯＲＥＭＯＮ)! We extend our sincerest gratitude to DOREMON (ＤＯＲＥＭＯＮ) for developing this amazing game. All suggestions and feedback to help make $BANMAO RPS even better, including translation contributions, can be sent to his mailbox. ✉️ Play now, Win big, and Discover the power of decentralized GameFi on X Layer! 🚀🏆 🔑 CA: 0x16d91d1615fc55b76d5f92365bd60c069b46ef78 💰 1$ → 10$ → 100$ → 1000$ 🚀🌕 🎶 Faith & dreams will overcome greed & fear 🎶 ✨ 信念和梦想将战胜人性中的贪婪与恐惧 ✨ 🔥 Together we rise, united as one community! 🔥 一起崛起，团结就是力量！ X Layer OKX OKXchinese OKX Wallet 中文 OKX Wallet Star_OKX 📌 #banmao #okx #xlayer #memecoin #community #btc #eth #okb #bananacat #香蕉猫 #memeking #Airdrop #GameFi

📢 AIRDROP 333 $BANMAO 🎁 👉Like ❤️ + Repost 🔁 + Follow 🐱 banmao 🐱🍌 👉Comment your XLayer wallet address 👇 🚀 BANMAO RPS - The FIRST GameFi & Childhood Rock-Paper-Scissors Triumphs on X Layer! ✊🖐✌️ 💬Dear Gamers, We are thrilled to announce the official launch of BANMAO RPS – a GameFi version of the timeless, beloved classic, Rock-Paper-Scissors, now available on the X Layer network! 🎉 BANMAO RPS is proud to be the FIRST GameFi project on X Layer! 🌟 What Makes BANMAO RPS SPECIAL? Simple & Easy to Play: 🎮 No complex learning curve, just pick Rock, Paper, or Scissors. Easy to approach, endless fun! Ultra-Low Cost on X Layer: 💰 Enjoy a near-free transaction experience thanks to the optimization of the X Layer network. Let's unlock the flow of X Layer together! 🌊 Multi-Language Support: The current website supports 7 languages. Eye-Catching Interface: 🎨 Modern, intuitive game design that offers a delightful visual experience. Completely Decentralized & Transparent: 🔗 Open Source Smart Contract. No backdoors or abusive Admin privileges. 🛡️ Everything is Community-Driven: Game results are determined in a decentralized manner; no one can interfere or cheat. ⚖️ 📜 Contract Address & Verification Transparency is our top priority! You can verify the source code and game logic here: BANMAO RPS Contract: 🤝 Join the Community & Develop Together! Let's put the past aside, respect differences, and look towards the future with $BANMAO. Become part of a growing community where fun and decentralization meet! 🌍✨ Download OKX Wallet 📲 and search for " in the dApp section. Or visit the website directly: 🌐 🙏 Big Thanks to DOREMON (ＤＯＲＥＭＯＮ)! We extend our sincerest gratitude to DOREMON (ＤＯＲＥＭＯＮ) for developing this amazing game. All suggestions and feedback to help make $BANMAO RPS even better, including translation contributions, can be sent to his mailbox. ✉️ Play now, Win big, and Discover the power of decentralized GameFi on X Layer! 🚀🏆 🔑 CA: 0x16d91d1615fc55b76d5f92365bd60c069b46ef78 💰 1$ → 10$ → 100$ → 1000$ 🚀🌕 🎶 Faith & dreams will overcome greed & fear 🎶 ✨ 信念和梦想将战胜人性中的贪婪与恐惧 ✨ 🔥 Together we rise, united as one community! 🔥 一起崛起，团结就是力量！ X Layer OKX OKXchinese OKX Wallet 中文 OKX Wallet Star_OKX 📌 #banmao #okx #xlayer #memecoin #community #btc #eth #okb #bananacat #香蕉猫 #memeking #Airdrop #GameFi

banmao 🐱🍌

22,680 Aufrufe • vor 10 Monaten

There’s a popular theory that AI will finally make formal verification mainstream because mathematical proof of correctness will be needed when machines write most or all of the code. But will this happen? Hillel Wayne is one of the best people to answer. Timestamps: 00:00 Intro 04:32 The Crossover Project 11:37 What software engineering does better 15:30 What traditional engineering does better 18:17 Formal methods 29:32 TLA+: what it is and demo 36:58 TLA+ at Amazon 38:10 Ways distributed systems break 41:03 Formal methods and systems thinking 46:20 The value of learning math 50:23 What TLA+ is good for and isn’t 52:50 Alloy: a declarative language for software modeling 58:53 Other formal methods tools 1:01:24 Property-based testing 1:05:31 AI and the need for formal verification 1:12:29 Logic for programmers 1:14:35 Hillel’s 2025 prediction on AI’s impact 1:21:30 Book recommendation Brought to you by: • Antithesis – verify your system’s correctness without human review or traditional integration tests – and avoid bugs or outages. • turbopuffer – a vector and full-text search engine built on object storage. It’s fast, cheap, and extremely scalable. • WorkOS – everything you need to make your app enterprise ready. Two things I found especially interesting, talking with Hillel: 1. Amazon used TLA+ to find a bug almost impossible to locate without formal methods. In the paper How AWS uses formal methods, the AWS team shared that they’d found a complicated bug for which the shortest error trace to exhibit was 35 steps (!!). The bug passed unnoticed through extensive design review, code reviews, and testing. AWS concluded they wouldn’t have uncovered it if they’d stuck to conventional testing approaches. 2. Why not use formal verification for everything, then? It’s because specs in the real world are a nightmare to write. Even a simple problem like “find the file in a directory that has the most lines” gets complicated when modeled with formal methods. We would have to answer questions like: ‘do we look at ASCII or UTF-8 new line characters, what about unreadable files, and Symlinks?’ Without formal methods, we can write a simple verification that is right in 99%+ of cases. Formal methods require a lot of extra effort for the less than 1% of exotic use cases!

There’s a popular theory that AI will finally make formal verification mainstream because mathematical proof of correctness will be needed when machines write most or all of the code. But will this happen? Hillel Wayne is one of the best people to answer. Timestamps: 00:00 Intro 04:32 The Crossover Project 11:37 What software engineering does better 15:30 What traditional engineering does better 18:17 Formal methods 29:32 TLA+: what it is and demo 36:58 TLA+ at Amazon 38:10 Ways distributed systems break 41:03 Formal methods and systems thinking 46:20 The value of learning math 50:23 What TLA+ is good for and isn’t 52:50 Alloy: a declarative language for software modeling 58:53 Other formal methods tools 1:01:24 Property-based testing 1:05:31 AI and the need for formal verification 1:12:29 Logic for programmers 1:14:35 Hillel’s 2025 prediction on AI’s impact 1:21:30 Book recommendation Brought to you by: • Antithesis – verify your system’s correctness without human review or traditional integration tests – and avoid bugs or outages. • turbopuffer – a vector and full-text search engine built on object storage. It’s fast, cheap, and extremely scalable. • WorkOS – everything you need to make your app enterprise ready. Two things I found especially interesting, talking with Hillel: 1. Amazon used TLA+ to find a bug almost impossible to locate without formal methods. In the paper How AWS uses formal methods, the AWS team shared that they’d found a complicated bug for which the shortest error trace to exhibit was 35 steps (!!). The bug passed unnoticed through extensive design review, code reviews, and testing. AWS concluded they wouldn’t have uncovered it if they’d stuck to conventional testing approaches. 2. Why not use formal verification for everything, then? It’s because specs in the real world are a nightmare to write. Even a simple problem like “find the file in a directory that has the most lines” gets complicated when modeled with formal methods. We would have to answer questions like: ‘do we look at ASCII or UTF-8 new line characters, what about unreadable files, and Symlinks?’ Without formal methods, we can write a simple verification that is right in 99%+ of cases. Formal methods require a lot of extra effort for the less than 1% of exotic use cases!

Gergely Orosz

34,759 Aufrufe • vor 2 Monaten