Viewing profile — mplappert

“Never attribute to malice that which is adequately explained by stupidity.” (or carelessness in this case)

Seems like a hallucination to me; note that the context contains “unmarkBlock” as the function name, which invites a connection to Minecraft. Still shouldn’t happen of course. The …

I agree with this. I recently went back to writing more code by hand again for this reason: the amount of effort / mental toll it takes me to steer the LLM is sometime just not wor…

There’s a lot of confusion here: - There is no double taxation if you just pay yourself a salary (since it’s a normal business expense). If you want to take money out of the compan…

Yeah I tried to use ROS / Gazebo about 10 years ago (it was still ROS 1) and getting it set up was an immense pain. I remember that creating new modules required writing CMake file…

I’d recommend looking at the SO-101 then. Much much cheaper. And hardware is very fun! It’s also very frustrating. But to me worth it.

This all makes a lot sense, thanks for sharing! For depth I agree on the VLA route but for ACT / DP-style imitation learning from scratch it seems more feasible (since you’re not f…

Did you ever a late RGB vs RGB-D? I haven’t seen that much in the literature. Also any thoughts on action space representation? Seems to me people are settling on flow matching mos…

Yeah I can see that. Especially the rotation part is pretty awkward (hence why I currently do the axis parallel to table surface trick and only use the yaw angle to rotate the grip…

This seems indeed useful. I haven't seen this for robotics but I'm sure people need this for larger deployments (either for a distributed fleet or for an "arm farm"-like setup wher…

Wow very cool project and thanks for the Ariel pointer! Added to my reading list. And yes, having a nice robot makes life so much easier. Very happy with my choice so far!

Oh very cool! Looks a bit like the TRLC-DK1 (I was looking at this one for a bit). I think pushing the sota is quite hard to do solo but we'll see. Mostly I want to get back up to …

I timestamp everything twice: once with the hardware clock (if available, like for the realsense camera) and once within my robot stack once it gets read from the device (using `ti…

I'm only starting down this road but my sense is that ACT and Diffusion Policy both make it pretty feasible to start on real data only. LeRobot also makes it easier to train these.…

Cool video! What made you stop if I can ask? And yeah I feel you re humanoid. I worked on the Rubik's cube project at OpenAI, which used a humanoid hand, and it was insanely painfu…

Very cool! Have you seen the recent nvidia thing? They do this at scale for robotics manipulation: https://research.nvidia.com/labs/gear/enpire/

Great points and I very much appreciate the input! Right now the static camera is probably really bad: It's mounted on my desk, so its very easy to bump into it and move it. So yea…

That was my take 8 years ago glad to hear it’s still that

For understanding: I think the level is much deeper if I wrote the code vs reading someone else’s. Same applies to coding agents of course which is why I wrote most of it myself an…

Glad you like it! Re your questions: - The driver situation turned out totally fine; I intentionally picked HW with good python sdk support so that was very painless. - The static …

Thanks Tim and fun seeing you here :)

Looks very cool! I’m not a huge discord user but how about you shoot me an email and we can figure out how to share notes? (I don’t want to post it directly here but it’s easy to f…

It’s partially my fault I currently clip the max speed _and_ I only input soft control changes when teleoperating to avoid crashing into things. The robot itself could definitely m…

Quick framing, since the post is long: I did robotic manipulation research at OpenAI from 2017–2020, and the tabletop setup back then cost roughly 10x this one and took a team to r…