David McAllister @davidrmcall
PhD Student @berkeley_ai | Interning with Nvidia in Helsinki Joined June 2024-
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Our latest work performs sim2real dexterous grasping using end-to-end depth RL.
Should robots have eyeballs? Human eyes move constantly and use variable resolution to actively gather visual details. In EyeRobot (eyerobot.net) we train a robot eyeball entirely with RL: eye movements emerge from experience driven by task-driven rewards.
Come find us at CoRL!
Happy to announce that we have finally open sourced the code for DextrAH-RGB along with Geometric Fabrics: github.com/NVlabs/DEXTRAH github.com/NVlabs/FABRICS
Happy to announce that we have finally open sourced the code for DextrAH-RGB along with Geometric Fabrics: github.com/NVlabs/DEXTRAH github.com/NVlabs/FABRICS
Ever wish a robot could just move to any goal in any environment—avoiding all collisions and reacting in real time? 🚀Excited to share our #CoRL2025 paper, Deep Reactive Policy (DRP), a learning-based motion planner that navigates complex scenes with moving obstacles—directly…
Want more scaling laws for value-based RL? Preston and I analyzed scaling model size! Larger models predictably improve data efficiency, performance, reduce overfitting, and allow using larger batch size. After this, I am now more optimistic than ever abt TD-learning.
Want more scaling laws for value-based RL? Preston and I analyzed scaling model size! Larger models predictably improve data efficiency, performance, reduce overfitting, and allow using larger batch size. After this, I am now more optimistic than ever abt TD-learning.
Republican and Democratic voters share common ground when it comes to the University of California: Both sides express widespread support for UC, its research, medical centers and ability to elevate the lives of students, a statewide poll shows. (via @latimes)…
Inherent biases and imbalances in robot data can make training steerable VLA policies challenging. We introduce CAST, a method to augment datasets with counterfactuals to induce better language following cast-vla.github.io ← paper, code, data, and more available here! 🧵
They say the best time to tweet about your research was 1 year ago, the second best time is now. With RAI formerly known as Boston Dynamics AI Institute, we present DiffuseCloC - the first guidable physics-based diffusion model. diffusecloc.github.io/website/
🤖 Initial code release is up for VideoMimic Real2Sim! github.com/hongsukchoi/Vi… VideoMimic is a real-to-sim-to-real pipeline for deploying humanoids in the real world. It supports: - Human motion capture from video - Environment reconstruction for simulation from video -…
🤖 Initial code release is up for VideoMimic Real2Sim! github.com/hongsukchoi/Vi… VideoMimic is a real-to-sim-to-real pipeline for deploying humanoids in the real world. It supports: - Human motion capture from video - Environment reconstruction for simulation from video -…
Anything is possible with Viser!
And initial code release is up! github.com/akanazawa/fpo Really enjoyed working with @kevin_zakka et al's MuJoCo Playground for this project⭐
And initial code release is up! github.com/akanazawa/fpo Really enjoyed working with @kevin_zakka et al's MuJoCo Playground for this project⭐
For everyone interested in precise 📷camera control 📷 in transformers [e.g., video / world model etc] Stop settling for Plücker raymaps -- use camera-aware relative PE in your attention layers, like RoPE (for LLMs) but for cameras! Paper & code: liruilong.cn/prope/
Artifacts in your attention maps? Forgot to train with registers? Use 𝙩𝙚𝙨𝙩-𝙩𝙞𝙢𝙚 𝙧𝙚𝙜𝙞𝙨𝙩𝙚𝙧𝙨! We find a sparse set of activations set artifact positions. We can shift them anywhere ("Shifted") — even outside the image into an untrained token. Clean maps, no retrain.
Excited to present VideoMimic this week at #CVPR2025! 🎥🤖 📌 POETs Workshop "Embodied Humans" Spotlight Talk | June 12, Thu, -10:10 | Room 101B 📌 Agents in Interaction: From Humans to Robots Poster #182-#201 | June 12, Thu, -12:15 | ExHall D Come by and chat!…
🚀Join our #CVPR2025 2nd POETs Workshop --Embodied "Humans": Symbiotic Intelligence Between Virtual Humans and Humanoid Robots We have super cool live demo sessions, and awesome lineup of speakers @UnitreeRobotics @GerardPonsMoll1, @pathak2206, Karen Liu, @chelseabfinn @psyth91…
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Generalist @GeneralistAI_
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Smerity @Smerity
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Kyle🤖🚀🦭➡�... @KyleMorgenstein
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