Tao Sun

PhD student | McGill University

[Tao Sun @Tao_Sun7]

🚀 Looking for a reliable Franka controller with seamless sim-to-real transfer?
Meet FrankaTwin: https://t.co/jbCOWbFp9g

🎮 Joint/Cartesian position & impedance + gripper
🎯 System ID: 3.6 mm EE / 28 mrad joint RMSE (sim vs. real)

[Tao Sun @Tao_Sun7]

What’s inside?

🎮 Joint/Cartesian position & impedance + gripper.
🧩 Easily set up in Isaac Sim for policy training and evaluation. Simple yet effective sysid.
📖 Clean codebase with a detailed document.

Huge thanks to @patrickhyin and Harry H. for their contributions!

[Tao Sun @Tao_Sun7]

🚀 Looking for a reliable Franka controller with seamless sim-to-real transfer?
Meet FrankaTwin: https://t.co/jbCOWbFp9g

🎮 Joint/Cartesian position & impedance + gripper
🎯 System ID: 3.6 mm EE / 28 mrad joint RMSE (sim vs. real)

[Tao Sun @Tao_Sun7]

It matches the task-space impedance control scheme used in sim-to-real research such as OmniReset, IndustReal, and our latest paper.
📄 IndustReal: https://t.co/nllciuFBtC
📄 OmniReset: https://t.co/HgfwcJJdOc
📄 Our paper (RebarSim): https://t.co/2KEskF0y1t

[Tao Sun @Tao_Sun7]

Also, sincerely appreciate everyone who provided valuable suggestions to this project during my time at Princeton: Baffour Osei, @kaiqu_liang, @LihanZha, Kevin Liu, Tuo Zhao, Ola Sho, @allenzren, @tennyyin, @May_Z_Mei, Xinyu Zhang, Zixu Zhang, @HaiminHu, @chongyiz1, @jasonzding, @YuanchenB36202

[Tao Sun @Tao_Sun7]

Can robots replace humans in dirty and hazardous construction work?

Introducing: Rebarbot 1.0🤖 https://t.co/tpPwBWsMRm

The first learning-based robotic system capable of autonomous rebar installation, marking an interesting step toward automated concrete component fabrication.

[Tao Sun @Tao_Sun7]

@BeiningH @jimmyyhwu This is just the beginning—we’re excited to keep pushing forward and making more contributions to automation in construction

[Tao Sun @Tao_Sun7]

@shivanshpatel35 Hi Shivansh, awesome work! Could you let me know which controller you’re using on the UFactory arm? Its compliance looks good

[Tao Sun @Tao_Sun7]

Introducing WoMAP—a new active perception framework merging world models with VLMs for open-vocabulary object localization in unknown environments. Grateful to have contributed a small part.

[Tenny Yin @tennyyin]

🔎Can robots search for objects like humans?
Humans explore unseen environments intelligently—using prior knowledge to actively seek information and guide search. But can robots do the same? 👀

🚀Introducing WoMAP (World Models for Active Perception): a novel framework for embodied open-vocabulary object localization that combines the reasoning power of VLMs 🧠with the physical grounding capabilities of world models 🌎.
🌐 https://t.co/e6ZUra86S1 🧵(1/N)

[Tao Sun @Tao_Sun7]

@jianyuan_wang Amazing work! The demo looks so cool

[Kaiqu Liang @kaiqu_liang]

Think your RLHF-trained AI is aligned with your goals?

⚠️ We found that RLHF can induce significant misalignment when humans provide feedback by predicting future outcomes 🤔, creating incentives for LLM deception 😱

Introduce ✨RLHS (Hindsight Simulation)✨: By simulating future outcomes of the interaction before providing feedback, we drastically reduce misalignment and hallucinations 🦾

[Tao Sun @Tao_Sun7]

@kevin_lkq Fantastic work!

[Tao Sun @Tao_Sun7]

@jimmyyhwu Amazing work!

[Tao Sun @Tao_Sun7]

@kevin_lkq Amazing work!

[Tao Sun @Tao_Sun7]

@benjamin_bolte Can I get the model number of the camera on the stand in the video?