Manipulation
c/manipulation · 3 postsArms, grippers and the policies that drive them: VLAs, ACT, diffusion policy and teleoperation setups.
Posts in c/manipulation
Fine-tuning SmolVLA on an SO-101: what's your recipe?
The SO-101 pick-and-place set is a good template: about fifty episodes with a side and a top-down camera. Most people seem to start from the SmolVLA base checkpoint.
pi0, pi0-FAST or pi0.5: which base do you fine-tune first?
LeRobot now ships ports of three Physical Intelligence checkpoints. pi0 uses flow matching, pi0-FAST predicts compressed action tokens, and pi0.5 adds co-training aimed at unfamiliar scenes.
Are video world models ready for robot planning?
V-JEPA 2 plans in a learned latent space, while Cosmos generates future video that can stand in for rollouts or synthetic training data.