New project! Flow Policy Gradients for Robot Control
tldr; a simple online RL recipe for training and fine-tuning flow policies for robots
co-led w/ @redstone_hong: hongsukchoi.github.io/fpo-control
tyro 1.0 is out 馃悾
This has been a pet project/niche interest of mine for ~4 years now, so it's a bit of a sentimental moment...
github.com/brentyi/tyro
For everyone interested in precise 馃摲camera control 馃摲 in transformers [e.g., video / world model etc]
Stop settling for Pl眉cker raymaps -- use camera-aware relative PE in your attention layers, like RoPE (for LLMs) but for cameras!
Paper & code: liruilong.cn/prope/
I'm super excited to announce mjlab today!
mjlab = Isaac Lab's APIs + best-in-class MuJoCo physics + massively parallel GPU acceleration
Built directly on MuJoCo Warp with the abstractions you love.
Humanoid motion tracking performance is greatly determined by retargeting quality!
Introducing 饾棦饾椇饾椈饾椂饾棩饾棽饾榿饾棶饾椏饾棿饾棽饾榿馃幆, generating high-quality interaction-preserving data from human motions for learning complex humanoid skills with 饾椇饾椂饾椈饾椂饾椇饾棶饾椆 RL:
- 5 rewards,
- 4 DR
