I love the implications of a robot that can plug in Ethernet cables.
lysp 38 days ago [-]
Just need one that can plug in USB-A cables the first attempt (I average 3 attempts).
meepmorp 38 days ago [-]
“Soon, a robot will fix the cables in the server room for me!”
LoganDark 38 days ago [-]
New job title: Spaghetti Organizer
b0a04gl 38 days ago [-]
rtc handling 300ms+ delay and still pulling off tasks like plugging ethernet is kinda nuts.
what i'm not getting is but how's it keeping the control loop stable without retraining? some sort of latent plan caching?
kvablack 38 days ago [-]
It uses an inpainting algorithm (adapted from image generation literature) to produce future actions that are consistent with the current trajectory. It's sort of like warm-starting from a cached plan, although the plan isn't latent, it's directly in action space. Hopefully that answers your question -- there are many more details in the blog post and paper :)
Excellent work!
We open-sourced Pi0 (referenced in this post): https://github.com/Physical-Intelligence/openpi