Machine Learning

Gotta fill my post quota before the rest of the year zips past, so here we go. This probably won't be my last post of the year, but more on that another day. I've been running some experiments on conditioning diffusion and flow matching policies. This writeup will cover some of my learnings. Objective I started working on this to figure out what the limits of FiLM conditioning were. I'd… [Read More]

Hello, it's time for my yearly post! The goal of this one is to be a handy reference for behavior cloning as applied to manipulation -- something I've been spending quite a bit of time on over the past 6-9 months. The field has been progressing at an absurdly rapid pace of late (somehow we're at a point where robots can do laundry), so I thought it'd be a good… [Read More]