XDOF
11 posts
XDOF
@xdofai
The infrastructure partner to the world's most ambitious robotics builders.
Katılım Ağustos 2024
0 Takip Edilen1K Takipçiler
Introduce SARM2 🤖a multi-task stage-aware reward model that empowers a self-improving loop:
🧺 Folding Shorts 58% → 100%
🧽 Cleaning Whiteboard 50% → 90%
Paper + project page below 👇 (1/n)
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Read more about SARM2 on the XDOF blog: xdof.ai/blog/sarm2
Check out the SARM2 project page: qianzhong-chen.github.io/sarm2.github.i…
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SARM2 is a multi-task, stage-aware reward model: dense, accurate AND general.
Feeding SARM2 rewards into a self-improvement framework SPIRAL boosts task success rates from 50-60% to 90-100% 🔥
Congrats to @QianzhongChen (XDOF intern) and co-authors:
- @BrianZheng103
- @uynitsuj (XDOF intern)
- @suning_huang
- @JiankaiSun
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ABC:
- Fully reproducible robotics stack ✅
- Largest open teleoperation dataset ✅
- Top trending dataset on @huggingface ✅
- >400 hrs of sim teleop data, evals dataset with full set of trials, more code coming soon ✅
Guanya Shi@GuanyaShi
My favorite part: ABC is a reproducible robotics stack. The website demos are not just cool videos: the underlying data, recipes, and infra are open, so people can actually inspect and build on them. Also excited about the >400h of sim teleop data coming soon. This should help the community iterate faster and study questions like sim-real co-training. One encouraging signal from our experiments: even with only ~2% simulated data mixed into co-training, we observed strong sim-real performance correlations. Excited to see what the community builds on top!
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@vai_viswanathan Yes! We'll be following up with the sim and eval datasets, the latter of which will have all trials
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@xdofai amazing! does this also have success / failure runs from your evals?
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We are proud to release ABC-130K, the largest open bimanual manipulation dataset.
ABC-130K includes 130K+ trajectories covering 200 complex manipulation tasks. All are performed on a low-cost bimanual rig (YAM by I2RT).
The data is available under the highly permissive Apache 2.0 license.
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@ritvik_singh9 @arthurallshire @Cinnabar233 @adamrasb @redstone_hong @davidrmcall So great to collaborate with you all on this work!
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XDOF retweetledi
Introducing ABC: open data, training, and infrastructure for robotics.
We release the largest teleop dataset to date, and extensively investigate design decisions, pretraining, and post-training techniques.
@arthurallshire @Cinnabar233 @adamrasb @redstone_hong @davidrmcall
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Headed to ICRA?
We're hanging out with our friends at @BessemerVP on a boat, and you should join us!
Come enjoy golden hour on the Danube with a small group of robotics researchers, founders and operators on Tuesday, June 2nd from 7pm-9pm.
Link below 🔽
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