lesh

technical staff at @dimensionalos

[lesh @lesh_bla]

Different species of go2

[lesh @lesh_bla]

@diegopjaccottet finally a usecase

[lesh @lesh_bla]

Creepy RL weekend

[lesh @lesh_bla]

@ericjang11 we trained a custom locomotion model that supports additional input "body height", will publish soon, super easy to run onboard

[lesh @lesh_bla]

FPS mode 2

[lesh @lesh_bla]

FPS mode

[lesh @lesh_bla]

Yeah I think that's the solution, tag on the back, static base_link -> tag transform

As soon as glasses see the tag - you can publish the newest glasses -> tag transform, so you can transform between robot frame and glasses frame

(IDK what glasses actually give you so might be missing something)

Just to know what's coming that I'm excited about, we are doing a lot of work on mapping and nav on go2 specifically (loop closure, map saving, relocalization) so this will land soon, as well as some tooling for easier dev and running of algos on actual stored data

https://t.co/tCLU5yi5aK
https://t.co/2ww4wMYitl

[lesh @lesh_bla]

Great, lmk if you run into any issues, we are young.

How are you localizing yourself in relation to the robot? Hardcoded?

We just wrote some stuff for apriltag detection, so if you have a tag on the robots back, your glasses can tell where it is in relation to them.. unfortunately not documented yet

https://t.co/5FAUrqyFDC
https://t.co/D9MZYRAzK7
https://t.co/ilu12LEHC6

if you hang on our discord can ping us for guidance

[lesh @lesh_bla]

@CHiN6_Sora yeah via dimos https://t.co/kEFn6CkuuS just using legion lib https://t.co/Qqz6dkMmgG

[lesh @lesh_bla]

Large global map loop closure and relocalization tests on stock go2 webrtc

[lesh @lesh_bla]

@vai_viswanathan these are good benchmarks sir

[lesh @lesh_bla]

Really great usecase for autoresearch I've found is writing a basic nav algo (loop closure, relocalization) establishing ground truth for scoring (apriltags in this case) then autoresearching until score is perfect

[lesh @lesh_bla]

@alokbishoyi97 actually yes this looks good, I'll try it out tnx

[lesh @lesh_bla]

@_asadmemon o3d icp + gtsam

[lesh @lesh_bla]

it was optimizing on short recordings in which robot is getting physically thrown around, so it's very aggressive on associating keyframes

[lesh @lesh_bla]

hand crafted vs autoresearched

[lesh @lesh_bla]

@aphex no, this is on go2 robot, it does have an IMU, I found camera odom unreliable for irl deployments, this algo runs realtime

[lesh @lesh_bla]

@alokbishoyi97 just program.md and claude, I add a /loop in case it gives up