5 ms·
Real-time action chunking with large models
- jauntywundrkind 1y agoAnyone have good intro recommendations for VLAs?
- lachyg 1y ago(I work at Pi.) We open-sourced Pi0 (referenced in this post): https://github.com/Physical-Intelligence/openpi https://github.com/Physical-Intelligence/openpi
- fennecbutt 1y agoAlright, I'm building the robot project I was putting off. This is so fucking cool. Excellent work!
- UltraSane 1y agoI love the implications of a robot that can plug in Ethernet cables.
- b0a04gl 1y agortc 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 1y agoIt 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 :)