Blog

Complete guide to training SONIC whole-body controller with GR00T-WholeBodyControl open-source on 100M+ motion capture frames, deployed on Unitree G1.

VLAC integrates a learned critic into the real-world RL loop, lifting success rate from 30% to 90% in just 200 episodes — no reward engineering required.

CoorDex uses body and hand latent priors to train Unitree G1 for continuous walk-grasp-carry without stopping. Open-source code from UNC Chapel Hill.

A practical guide to SLIM-0.5B, a compact VLA manipulation policy with action-grounded predictive latents on LIBERO.

Deep dive into DyPES-VLA — cross-embodiment SOTA: 98% LIBERO, 89% RoboTwin 2.0, 75.6% real-world across 3 robots using shared Dynamics Prior and MoE Action Head

A practical guide to πR² for GR00T-N1.7: architecture, setup, fine-tuning, 25 Hz inference, and manipulation results.

Run MiniVLA on LIBERO/MuJoCo, add perturbation tests, and understand how to report a 97.92% robustness success rate.

A guide to ω-0's 3-stage architecture and training pipeline — the latent predictive WAM that achieves 81.8% success rate on 11 household tasks, enabling humanoi

A practical World-to-Wrist VLA guide: wrist-view generation, wrist CoT labels, LeRobot data setup, training, inference, and results.

Technical guide to Qwen-VLA from Alibaba: Qwen3.5-4B + DiT decoder architecture, 4-stage training pipeline, 97.9% on LIBERO, beating pi0.5 on real-world ALOHA.

A practical T-Rex guide: tactile-reactive VLA architecture, LeRobot v3.0 dataset path, training, inference, and benchmark results.

FM-VLA uses a Variational Autoencoder to compress force-sensor history into 8 memory tokens, enabling robots to press buttons the right number of times, wipe di