Hand Tracking and Voice Commands for Collecting BC Data in Sim
I tried a webcam hand tracker plus voice commands to teleoperate bimanual UR7e arms in sim. It was too hard, but it taught me why wrist cams matter so much. read more →
small progress, half-baked takes, incomplete ideas, and occasional essays.
I tried a webcam hand tracker plus voice commands to teleoperate bimanual UR7e arms in sim. It was too hard, but it taught me why wrist cams matter so much. read more →
GPT 6 Astra attempts DexVerse's long-horizon coffee making task. It can't zero-shot it; a harness must be made. read more →
If we train a transformer to predict the next token of dolphin spectrograms, could build a machine that speaks dolphin? Can an LLM co-trained with human language translate between dolphin and human?
Learned about MCAP and protobuf. MCAP strings together protobuf messages which store data like videos and pose frames. Foxglove is a pretty cool tool to visualize MCAPs, which can be seen in the video–had to copy/paste code from claude to get the hand frames remapped into a different format to get it visualized. MCAP is used by Open100k for their egocentric data. I wonder why they decided to go with MCAP and not some other kind of organization. MCAP is also used by ROS2 systems to store data.
Started an engineering log. Small progress, small takes, small ideas — tweet-sized, posted from the terminal with bin/log.
From BLDC motors and FOC up through PD control, and how to model actuators in MuJoCo.
My vision statement for general purpose robots.