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We pushed MolmoAct 2 into a completely out-of-distribution studio setting to test its robustness under extreme environmental changes. Despite only 10 minutes of task-specific fine-tuning data collected elsewhere, it adapted surprisingly well to the new environment.

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Jiafei Duan

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11,493 просмотров • 5 месяцев назад •via X (Twitter)

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Show it a single human demonstration of a long-horizon task and the robot performs it right away. No fine-tuning, no retraining. Skild has released S1, a robot foundation model where you specify the task with a video demonstration instead of a language instruction. Why video, not language Language works for "hand me the mug." It falls apart for anything delicate or long-horizon. You don't learn to fold a fitted sheet from a sentence. So S1 takes a video demo into its context window and translates it to its own body and scene. What it does - Tasks up to 10 minutes, dozens of sequential steps - Unseen tasks: potting plants, pour-over coffee, kit assembly, pancakes. Skild says even the underlying primitives, like flipping a pancake, weren't in pre-training - Recovers from its own mistakes without being trained to - Improves on flawed demos. Demonstrator drops an egg, S1 doesn't make that mistake. It reads the demo as a goal, not a trajectory to copy.

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In my experience, robot 'generalists' are often jacks of all trades but masters of none. In training across multiple tasks and environments, robot policies fail to generalize robustly and effectively to each particular test setting. What if at test time, we non-parametrically *retrieved* “relevant” data from the training set and used it to significantly improve the performance of few-shot imitation learning to be robust to various test time scenes. Notably, we are *not* collecting lots of new data, just training more on sub-components of the same training data! Now, we’re certainly not the first to suggest retrieval, but in our new work - STRAP, we show how retrieving relevant *sub-trajectories* from offline datasets can significantly increase data reuse across tasks, when paired with an appropriate metric space. A 🧵 (1/7)

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WASHINGTON CAN MAKE ALL THE NOISE IT WANTS. THE FBI HAS A MISSION. Under President Trump’s leadership, and this administration we moved thousands of personnel into the field. Cut decades-old bureaucracy. Expanded our task force partnerships to record levels. And now we’ve taken down 10 out of 10 Top Ten Most Wanted fugitives. We are here to protect the American people. The personal attacks won’t stop the mission. And we’re only halfway done. -DKP🇺🇸

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.Jason Ma on how Dyna-2 learned to untwist a real water bottle cap out of the box from just 13 minutes of dexterous hand data because the robot hand looks like a human's: "We got a new pair of dexterous hand. Most of our robots in the office have a gripper-like hand, so the gap between that versus human is actually quite large." "We thought, if we have a robot that has hands that look like human, wouldn't the transfer be greater? Right before the release, they were able to collect just 13 minutes of data." "They collected only 13 minutes of data and then post-trained the best Dyna model that trained on one million hours of data. The model is just able to, out of the box, start opening bottle caps on real water bottles." "This is very surprising because typically post-training a robot would take at least several hours of data. For a dexterous hand that's much more complex than a gripper, it would actually be much harder to train. But the experimental results we saw was the opposite. Perhaps because the hand looks more like the human, the transfer was easier." Dyna Robotics
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.Jason Ma on how Dyna-2 learned to untwist a real water bottle cap out of the box from just 13 minutes of dexterous hand data because the robot hand looks like a human's: "We got a new pair of dexterous hand. Most of our robots in the office have a gripper-like hand, so the gap between that versus human is actually quite large." "We thought, if we have a robot that has hands that look like human, wouldn't the transfer be greater? Right before the release, they were able to collect just 13 minutes of data." "They collected only 13 minutes of data and then post-trained the best Dyna model that trained on one million hours of data. The model is just able to, out of the box, start opening bottle caps on real water bottles." "This is very surprising because typically post-training a robot would take at least several hours of data. For a dexterous hand that's much more complex than a gripper, it would actually be much harder to train. But the experimental results we saw was the opposite. Perhaps because the hand looks more like the human, the transfer was easier." Dyna Robotics

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