

Tianqin Li @ CMU
49 posts

@Jack_Litq
CS PhD Student at Carnegie Mellon University











🚀URBAN-SIM is released! A large-scale robot learning platform for urban spaces, built on NVIDIA Omniverse. Train robots at scale in rich, interactive city environments. 🔗 github.com/metadriverse/u… Key Features: ⚡️ High Efficiency: Thousands of FPS on a single GPU -- enabling fast robot training. 📈 Scalable Training: Add more GPUs, scale up performance (FPS) continuously. 🏙️Rich Scene Context: Infinite scene generation -- supporting tasks like visual locomotion, navigation, VLA training, and robot-human-scene interaction. 🎮 Versatile Interfaces. Collect data via VR headset, racing wheel, keyboard, or mouse for imitation learning. 🧩 Ecosystem Compatibility: Built on NVIDIA Omniverse, IsaacSim, and PhysX.

🚨 Did you know that small-batch vanilla SGD without momentum (i.e. the first optimizer you learn about in intro ML) is virtually as fast as AdamW for LLM pretraining on a per-FLOP basis? 📜 1/n







Compression is the heart of intelligence From Occam to Kolmogorov—shorter programs=smarter representations Meet KARL: Kolmogorov-Approximating Representation Learning. Given an image, token budget T & target quality 𝜖 —KARL finds the smallest t≤T to reconstruct it within 𝜖🧵

We tested WSRL (Warm-start RL) on a Franka Robot, and it leads to really efficient online RL fine-tuning in the real world! WSRL learned the peg insertion task perfectly with only 11 minutes of warmup and *7 minutes* of online RL interactions 👇🧵


