Hana Zhang

AI Eng, building - The easiest way to start your Physical AI rollout.
Supervised by a cat

[Hana Zhang @thehanazhang]

Deploying on edge compute humbles you 😭

On the bright side, I have a pretty good grasp of the CUDA stack now.

Turns out an Orin Nano can actually handle flow matching policies

[Hana Zhang @thehanazhang]

@Em_Nomadic I really want to see more of these cheaper bots & arms come with durability ratings. Hard to budget around repairs/warranty

[Hana Zhang @thehanazhang]

@ed0henderson Idk if useful but there’s an official WeChat openclaw gateway connector

[Hana Zhang @thehanazhang]

@Shadmanislam151 @pentestduck @ycombinator You can arrange the arms/cameras like the YAM corpus they released and it transfers very well. Some people have FTed pi0.5 on it

[Hana Zhang @thehanazhang]

@VectorCrossProd You might be interested in what we’re building then.
We’re in Sydney :)

[Hana Zhang @thehanazhang]

@matth_lapeyre A month ago my distributor told me there was a ‘worldwide Dynamixel shortage’ and now I know why 💀

[Hana Zhang @thehanazhang]

@bennytay07 @Scobleizer The FDE cost is too high for a lot of deployment companies. They all need insane $$ to build deployment teams. This results in only big players like Skild/Dyna etc actually deploying.

I really want to build the ecosystem towards being 3D printer level of self serviceability.

[Hana Zhang @thehanazhang]

Forgot to take videos but demoed this today

Turns out deformable + hidden fragile rigid object (Maltesers lol) is a pretty hard challenge

Only 1 bag crushed :)

[Hana Zhang @thehanazhang]

‘Yeh we have UMI grippers at home’

[Hana Zhang @thehanazhang]

@LeRobotHF @nvidia @huggingface Rebots doing 6 7 😭

[Hana Zhang @thehanazhang]

@AsherNoble20109 What CAD software?

[Hana Zhang @thehanazhang]

I’ve been getting quotes for humanoid parts lately. It’s made me realise that there’s a race to the bottom on arms specifically.

There are lots of options for decent QDD arms now <2k USD.

Horrified to find out even an entry level wheeled base costs >5k

[Hana Zhang @thehanazhang]

My local distributor says there is a ‘worldwide Dynamixel shortage’ so unfortunately couldn’t get servos for the GELLO. 😔

[Hana Zhang @thehanazhang]

PSA about the @seeedstudio B601

The stock leader arm (Star Arm 102) is quite hard to use and kinematically different to the follower.

Branching the U-ARM for the B601 right now - will see how it turns out.

GELLO also seems like a good option (the YAM config specifically)

[Hana Zhang @thehanazhang]

Holy shit we’re here already

[Generalist @GeneralistAI]

Introducing GEN-1.5, a one-shot learner.

It can learn new tasks in a few seconds. Show it what to do, and it generalizes.

This capability emerged from pretraining on physical data at scale, as a step towards our mission of building general intelligence for the physical world.

[Hana Zhang @thehanazhang]

@AsherNoble20109 @orcahand Cool! Did you build the Feetech or Dynamixel version?

[Hana Zhang @thehanazhang]

Whenever I see an IL demo where they
1. Whip out a 🔦
+
2. Say it only needs an unbelievably small amount of demos

I get suspicious if it’s visual trajectory retrieval (vs trained policy). Nearest neighbour doesn’t care if the lighting changes 🤷

[Hana Zhang @thehanazhang]

This is a non parametric policy with some ACT-esque tricks. Depth perception needs a little work (as seen by the gripper dragging). I’m only using a monocular wrist cam for this.

[Hana Zhang @thehanazhang]

Seen some interesting demos recently from @ihorbeaver recently of imitation learning on extremely low demo counts.

Based on some hunches I put something together. This is a pick+place based on 9 demos. Can handle position + orientation change of 3-5cm ish.

[Hana Zhang @thehanazhang]

Also works on a @seeedstudio reBot B601! Though the Quest implementation is a work in progress.

[Hana Zhang @thehanazhang]

Got remote VR teleop via Pi working :)

Like many people working with VLAs, I was tired of replugging 5 different things every session.

So I decided to abstract it all behind a Pi. Supports leader arm, Quest, DAgger

Disregard messy workbench - currently housing 3 projects 😭