Sitemap
A list of all the posts and pages found on the site. For you robots out there, there is an XML version available for digesting as well.
Pages
Apps
Interactive experiments, learning routes, and research maps.
JEPA 学习路线 · 从表征到行动
从 JEPA 到 JEPA-VLA，六站交互式学习路线。
Mono Color — 从四张海报看 AI 如何接手设计工作
四张灵巧手海报的设计拆解、设计工序分工与可编辑的 Mono Color 提示词。
RoboScope
A semantic map of paper notes
World Model 发展历程 · 从预测到行动
从 Dyna 到交互视频与三维世界模拟：18 个节点、4 条研究路线的交互式阅读地图。
在世界模型中强化学习 · Push Lab
用浏览器 CPU 训练机械臂推块策略、学习世界模型，并在模型中继续强化学习。
Posts
[Project Notes] RL in a World Model, in Rust: What Our Pushing Experiments Taught Us
Published:
A small Rust pushing task exposed a large gap: 82% success inside a learned model, 0% in the simulator. Notes on rollout error, cold-start RL, and a strong imitation baseline.
[Book Notes] Michel Foucault: The Panopticon and the Habits of Discipline
Published:
Reading Foucault’s Discipline and Punish through Bentham’s Panopticon: uncertain observation, self-discipline, normalization, and the limits of applying this model to workplaces, schools, and AI monitoring.
Four Stages of Embodied Model Training: From Semantic Priors to Robot Deployment
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A bilingual framework for comparing VLA, world-action, and native sensorimotor models—with an interactive map of training stages and the human-to-robot data continuum.
[Project Notes] TwinDEX: Scaling Dexterous Manipulation with Twinned Hardware
Published:
TwinDEX co-designs a wearable exoskeleton and a matching robotic hand so that robot-free demonstrations preserve kinematics, contact, appearance, sensing, and timing at deployment.
[Project Notes] Project SuperDex Hands-On: Dexterous Hands, Soft Bodies, and RL on Apple Silicon
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[Paper Notes] LAP: Language-Action Pre-Training Enables Zero-shot Cross-Embodiment Transfer
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[Book Notes] Jeff Hawkins: A Thousand Brains and Intelligence as Many Models in Motion
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A Thousand Brains reframes intelligence as sensorimotor world-modeling carried out by many cortical modules, with consequences for neuroscience, robotics, AI, and the risks created by human belief.
[Paper Notes] Dream-VL & Dream-VLA: Diffusion Backbones for Visual Planning and Robot Action
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[Book Notes] John von Neumann: The Statistical Language of the Brain
Published:
The Computer and the Brain asks how slow, noisy, low-precision neurons produce fast and reliable intelligence—and why the brain’s language may differ fundamentally from mathematical notation.
[Book Notes] Douglas Hofstadter: Strange Loops, Meaning, and the Emergence of Mind
Published:
Gödel, Escher, Bach explores how meaning, intelligence, and the self can emerge from formal rules through recursion, layered description, and strange loops.
[Book Notes] David Deutsch: Good Explanations and the Beginning of Infinite Progress
Published:
David Deutsch’s philosophy of good explanations connects knowledge, fallibility, universal computation, open institutions, and the possibility of unbounded progress.
[Book Notes] James P. Carse: Finite Games, Infinite Play, and the Art of Keeping Possibility Open
Published:
James P. Carse’s distinction between finite and infinite games offers a lens for understanding competition, identity, education, culture, technology, and the open-ended work of research and AI.
[Paper Notes] SiMDex: Mining Similar Egocentric Videos for Cross-Embodiment Dexterous Manipulation
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[Paper Notes] REGRIND: A Minimalist Retargeting-Guided RL Recipe for Dexterous Manipulation
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[Paper Notes] EGOWAM: World Action Models Beyond Pixels with In-the-Wild Egocentric Human Data
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[Paper Notes] TactiDex: A Real-World Tactile-Guided Benchmark for Human-Like Dexterous Manipulation
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[Paper Notes] AnyDexRT: Calibration-Free Dexterous Hand Retargeting with Few-Shot Human Guidance
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[Paper Notes] Play2Perfect: What Matters in Dexterous Play Pretraining for Precise Assembly?
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[Paper Notes] Tactile Genesis: Exploring Tactile Sensors at Scale for Learning Dexterous Tasks
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[Paper Notes] RynnWorld-Teleop: An Action-Conditioned World Model for Digital Teleoperation
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[Paper Notes] WARP: Whole-Body Retargeting for Learning from Offline Human Demonstrations
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[Paper Notes] HRDexDB: A Paired Human-Robot Dataset for Cross-Embodiment Dexterous Grasping
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[Paper Notes] GRAIL: Generating Humanoid Loco-Manipulation from 3D Assets and Video Priors
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[Paper Notes] Towards Bridging the Gap: Systematic Sim-to-Real Transfer for Diverse Legged Robots
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[Paper Notes] TopoRetarget: Interaction-Preserving Retargeting for Dexterous Manipulation
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Why On-Policy Data Matters in Post-Training
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[Paper Notes] Human Universal Grasping
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[Paper Notes] DexJoCo: A Benchmark and Toolkit for Task-Oriented Dexterous Manipulation on MuJoCo
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[Paper Notes] DexterCap: Affordable and Automated Capture of Complex Hand-Object Interactions
Published:
Before the Robot GPT-3.5 Moment: Latent Actions, World Models, and Embodied Memory
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A reflective essay on latent actions, world models, KV-cache memory, and why robotics may still be before its GPT-3.5 moment.
[Paper Notes] KEEP: A KV-Cache-Centric Memory Management System for Efficient Embodied Planning
Published:
A Practical Map of LLM Training Ecosystems
Published:
A compact field note on how Megatron, Hugging Face, PyTorch, vLLM, SGLang, and verl fit together in a practical LLM training pipeline.
[Paper Notes] LDA-1B: Scaling Latent Dynamics Action Model via Universal Embodied Data Ingestion
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Force Control and the Missing Layer in Embodied Intelligence
Published:
A late-night conversation over grilled skewers revealed a gap: most embodied AI researchers don’t think about what the robot arm is actually doing at the control level — and closing that gap might reshape how we think about action spaces.
[Paper Notes] EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the World
Published:
Bootstrapping and the Game of Entrepreneurship
Published:
Bootstrapping is the same pattern across compilers, AI, and startups: borrow external structure to cold-start, then recursively replace dependencies until the system sustains itself.
[Book Notes] Michael Polanyi: Tacit Knowledge, Personal Knowing, and What AI Still Cannot Tell
Published:
Polanyi’s framework of tacit knowledge and personal knowing offers a lens for understanding what AI still cannot do — and why embodied, context-dependent skill remains hard to formalize.
Distilling Persons into Agents: A Survey of Recent ‘Person-as-Skill’ Projects
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A survey of projects that compress human personas into AI agent skills — from departed colleagues to public figures — and what this trend reveals about AI, memory, and identity.
[Project Notes] Robotic World Model Lite
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[Project Notes] PAL Robotics in mjlab
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[Paper Notes] CUDA Agent: Large-Scale Agentic RL for High-Performance CUDA Kernel Generation
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[Paper Notes] SaTA: Spatially-anchored Tactile Awareness for Robust Dexterous Manipulation
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The Singularity is Near
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Autonomous agents are now cheap and networked enough to spread faster than any institution can contain — the question is what order emerges after control becomes partial.
[Paper Notes] DiT4DiT: Jointly Modeling Video Dynamics and Actions for Generalizable Robot Control
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How to Align Teleoperation Devices with Robot End Effectors
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The hardest part of teleoperation is aligning coordinate frames between input devices and robot end effectors — a practical walkthrough.
Inverse Kinematics for Any URDF: Tasks, Weights, and Solver Design
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A practical guide to formulating IK as weighted nonlinear least-squares, with task definition, damping, and solver design that works for any URDF.
[Paper Notes] D-REX: Differentiable Real-to-Sim-to-Real Engine for Learning Dexterous Grasping
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I Vibe Coded an Operating System
Published:
I built a scripting-first OS prototype in a weekend with Codex, where the system language gradually takes over its own environment from the host.
Intelligence Is Not Only Reasoning
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Intelligence depends on retrieval and communication as much as reasoning — a powerful model limited by information gaps is still limited.
Cognitive Bandwidth in the AI Agent Era
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As AI tools get more capable, the bottleneck shifts from tool friction to human cognitive bandwidth — compressing intent and steering effectively becomes the key skill.
[Paper Notes] RLinf → RLinf-USER → RL-Co: A Full-Stack RL Pipeline for Embodied VLA Training
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Updating website
Published:
A major site update done mostly by Codex — page refactoring, content restructuring, and bilingual support.
[Paper Notes] SAM-RL: Sensing-Aware Model-Based Reinforcement Learning via Differentiable Physics-Based Simulation and Rendering - RSS 2023
Published:
Key information
- Model-based reinforcement learning (MBRL) is potentially more sample-efficient than model-free RL.
- Integration of differentiable physics-based simulation and rendering facilitates the learning process.
- Pipeline: Real2Sim -> Learn@Sim -> Sim2Real to produce efficient policies.
[Paper Notes] DayDreamer: World Models for Physical Robot Learning - CoRL 2022
Published:
Key information
- This paper learns two models: a world model trained on off-policy sequences through supervised learning, and an actor-critic model to learn behaviors from trajectories predicted by the learned model.
- The data collection and learning updates are decoupled, enabling fast training without waiting for the environment. A learner thread continuously trains the world model and actor-critic behavior, while an actor thread in parallel computes actions for environment interaction.
portfolio
Portfolio item number 1
Short description of portfolio item number 1
Portfolio item number 2
Short description of portfolio item number 2
publications
Paper Title Number 1
Published in Journal 1, 2009
This paper is about the number 1. The number 2 is left for future work.
Recommended citation: Your Name, You. (2009). "Paper Title Number 1." Journal 1. 1(1).
Download Paper | Download Slides | Download Bibtex
Paper Title Number 2
Published in Journal 1, 2010
This paper is about the number 2. The number 3 is left for future work.
Recommended citation: Your Name, You. (2010). "Paper Title Number 2." Journal 1. 1(2).
Download Paper | Download Slides
Paper Title Number 3
Published in Journal 1, 2015
This paper is about the number 3. The number 4 is left for future work.
Recommended citation: Your Name, You. (2015). "Paper Title Number 3." Journal 1. 1(3).
Download Paper | Download Slides
Paper Title Number 4
Published in GitHub Journal of Bugs, 2024
This paper is about fixing template issue #693.
Recommended citation: Your Name, You. (2024). "Paper Title Number 3." GitHub Journal of Bugs. 1(3).
Download Paper
Paper Title Number 5, with math \(E=mc^2\)
Published in GitHub Journal of Bugs, 2024
This paper is about a famous math equation, \(E=mc^2\)
Recommended citation: Your Name, You. (2024). "Paper Title Number 3." GitHub Journal of Bugs. 1(3).
Download Paper
talks
Talk 1 on Relevant Topic in Your Field
Published:
This is a description of your talk, which is a markdown file that can be all markdown-ified like any other post. Yay markdown!
Conference Proceeding talk 3 on Relevant Topic in Your Field
Published:
This is a description of your conference proceedings talk, note the different field in type. You can put anything in this field.
teaching
Teaching experience 1
Undergraduate course, University 1, Department, 2014
This is a description of a teaching experience. You can use markdown like any other post.
Teaching experience 2
Workshop, University 1, Department, 2015
This is a description of a teaching experience. You can use markdown like any other post.