2026
Building a Robot Learning Pipeline with SO-101
Part II: adapting GR00T N1.7 to the carrot-to-box dataset with a full-scope LoRA interface.
Tags
Robotics
2026
VLA Post-Training
Part I: a controlled comparison of LoRA, QLoRA, and DoRA for post-training GR00T N1.7 on LIBERO-10 Long.
2026
VLA Robot Learning
Part II: why multi-robot data is difficult to pool, and how open generalist policies adapt across embodiments.
2026
VLA Robot Learning
Part I: the policy foundations beneath VLAs—from behavior cloning to action chunks, diffusion, and flow matching.
2026
Robot Kinematics
Part II of a technical note on robot kinematics, covering forward and inverse kinematics for serial robot arms.
2026
Robot Kinematics
Part I of a technical note on robot kinematics, covering coordinate frames, rotation, and rigid transforms.
2026
Building a Robot Learning Pipeline with SO-101
A practical build note on using SO-101 as a hardware platform for teleoperation, camera bring-up, and early dataset collection.
2026
Robot buildup and algorithm iteration on open-source platforms
Built and iterated on open-source robot platforms, including SO-101 and OpenDuckMini, spanning hardware setup, low-level control, and simulation workflows for future learning-based manipulation.