Danijar Hafner @danijarh
Building AI that makes autonomous decisions using world models, artificial curiosity, and temporal abstraction @DeepMind danijar.com Berkeley Joined August 2013-
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We promise this is not a person in a bodysuit. bit.ly/3w5XRvH
For the past year we've been working on ALOHA Unleashed 🌋 @GoogleDeepMind - pushing the scale and dexterity of tasks on our ALOHA 2 fleet. Here is a thread with some of the coolest videos! The first task is hanging a shirt on a hanger (autonomous 1x)
Boeing whistleblower John Barnett was planning to drive home to Louisiana after his deposition on Friday 3/8 before Boeing lawyers asked him to stay one more day to finish his testimony. His body was found on the morning of 3/9. finance.yahoo.com/news/last-days…
Access to *diverse* training data is a major bottleneck in robot learning. We're releasing DROID, a large-scale in-the-wild manipulation dataset. 76k trajectories, 500+ scenes, multi-view stereo, language annotations etc Check it out & download today! 💻: droid-dataset.github.io
🚨 New Paper 🚨 LLMs excel at storing facts & in-context reasoning like CoT. But do they latently💭 reason over their parametric knowledge without answering step-by-step? We found positive evidence 👀 But it varies for different relation types, and scaling doesn't help much! 1/N
After 3 years @Tesla and Optimus, I am thrilled to announce that I joined Hugging Face to start an ambitious open robotics project! (open as in open-source, not as in Open AI) Looking for engineers to build real robots in Paris 🇫🇷 apply.workable.com/huggingface/j/… 🤖🤗
Long overdue but here's a new blogpost on training LLMs in the wilderness from the ground up 😄🧐 In this blog post, I discuss: 1. Experiences in procuring compute & variance in different compute providers. Our biggest finding/surprise is that variance is super high and it's…
Better than any household robot
Better than any household robot
Stabillity AI presents Stable Diffusion 3 Scaling Rectified Flow Transformers for High-Resolution Image Synthesis Diffusion models create data from noise by inverting the forward paths of data towards noise and have emerged as a powerful generative modeling technique for…
I’m excited to announce Craftax, a new benchmark for open-ended RL! ⚔️ Extends the popular Crafter benchmark with Nethack-like dungeons ⚡Implemented entirely in Jax, achieving speedups of over 100x 1/
Every. Single. New. Google. Product.
Announcing Stable Diffusion 3, our most capable text-to-image model, utilizing a diffusion transformer architecture for greatly improved performance in multi-subject prompts, image quality, and spelling abilities. Today, we are opening the waitlist for early preview. This phase…
Meta announces Aria Everyday Activities Dataset present Aria Everyday Activities (AEA) Dataset, an egocentric multimodal open dataset recorded using Project Aria glasses. AEA contains 143 daily activity sequences recorded by multiple wearers in five geographically diverse indoor…
video models vs world models
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Every day I am humbled by how smart and agile and persistent animals are
It's not PPO > DPO, It's policy generated data > stale data, In this paper, we answer this question by performing a rigorous analysis of a number of fine-tuning techniques on didactic and full-scale LLM problems. Our main finding is that, in general, approaches that use…
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@danijarh Interesting update! Is ε = 1e-20 used inside or outside the square root?
@danijarh Great to see an update :) Looks like you also switched to REINFORCE for continuous actions. That is surprising to me. Can you elaborate why? Do reparameterization policy gradients struggle with the straight-through discrete dynamics?
@danijarh Nice! Do you have any seperate plots showing the comparison of best performing old Dreamerv3 and the new version?
@danijarh Great work! Danijar's papers provide useful insightful methods that greatly alleviate RL researchers' pain in experiments
Block diagonal GRU lets Dreamer model inter-state transitions arxiv.org/abs/1905.12340
1) Replay buffer: store/update latent states, mix in online experience, larger capacity. 2) Critic replay loss: Train critic also on real rewards and let its grads shape the world model. 3) Networks: Block diagonal GRU for more memory under only small increase in params/flops.
@danijarh Congrats! Are there any applications / experiments you'd be excited to see? Particularly at smaller model sizes
phi-3-mini: 3.8B model matching Mixtral 8x7B and GPT-3.5 Plus a 7B model that matches Llama 3 8B in many benchmarks. Plus a 14B model. arxiv.org/abs/2404.14219
@kevin_zakka @danijarh @ericjang11 Code is easy to fix, unfortunately hardware isn't
@danijarh @ericjang11 No joint limits breaks your code first 😉
We promise this is not a person in a bodysuit. bit.ly/3w5XRvH
Introducing 𝐀𝐋𝐎𝐇𝐀 𝐔𝐧𝐥𝐞𝐚𝐬𝐡𝐞𝐝 🌋 - Pushing the boundaries of dexterity with low-cost robots and AI. @GoogleDeepMind Finally got to share some videos after a few months. Robots are fully autonomous filmed in one continuous shot. Enjoy!
@sai_prasanna @danijarh Think everyone knows Danijar's work (deservedly!)
@EugeneVinitsky @danijarh I admire his lineage of papers from PlaNet to dreamer, director, plan2explore, crafter, action perception as divergence minimization, clockworkvae. The cohesiveness of the themes explored and the results putting MbRL back on leaderboards (minecraft) is astounding.
There is nothing wrong with making incremental but steady progress on a hard problem.
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