Kenny Shaw @kenny__shaw Twitter profile

Last Seen Profiles

@souuyongie

@Ilya_Cheremnikh

@NatashaLeventh1

@tnfmk

@accovntsambatt

@rovathia

@dul_naciye

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@Sofia_Mtz0_

@cwextobrut

@dul_naciye

@Mhmian44

Kenny Shaw

@kenny__shaw

8 months

How can robot hands learn to do kitchen tasks from safe, continual real-world interaction? In our new CoRL 2023 paper DEFT, we learn policy priors from human videos and use our soft robot hand to safely adapt the policy with real world practice. 1/

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Kenny Shaw

@kenny__shaw

10 months

Want to get into dexterous manipulation but are frustrated with no good hardware options? You should try LEAP Hand, our dexterous, durable, $2k robot hand that can be assembled in 3 hours. We even open-sourced our sim2real code!

Lending a Hand

CMU roboticists have developed a robotic hand that costs less than $2,000 and outperforms its more expensive counterparts.

www.cs.cmu.edu

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Kenny Shaw

@kenny__shaw

8 months

Visit us demoing at #CoRL2023 Poster 5 and afternoon demos today! @anag004 uses LEAP Hand for sim2real dexterous, functional grasping @aditya__kannan uses DASH Hand to learn from internet videos and real-world fine-tuning

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Kenny Shaw

@kenny__shaw

3 months

Happy to share that our paper, Videodex, was featured on the front page of IJRR for April 2024.😀 I believe learning from human videos for robot hands will be very important especially in the era of foundation models that need a lot of data.

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Kenny Shaw

@kenny__shaw

2 months

Cool work using our open source LEAP Hand on a small robot arm! Excited to see where your project goes!

Brian Smith

@sirwart

2 months

Playing around with a modified version of the LEAP hand by @kenny__shaw . Still need to train it to shoot hoops on its own though

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Kenny Shaw

@kenny__shaw

2 months

Great investigative work by Toru and co! Gloves are definitely a great way to collect robot hand teleop data. Our lab has also been also building a big setup which we will demo and open-source at RSS 2024 :)

Toru

@ToruO_O

2 months

A common question we get for HATO () is: can it be more dexterous? Yes! The first iteration of our system actually achieves this -- by capturing finger poses with mocap gloves and remapping them to robot hands. [video taken in late 2023 (with @yuzhang )]

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Kenny Shaw

@kenny__shaw

2 months

Interesting....same as our upcoming low-cost and open-sourced hand. 😉

Elon Musk

@elonmusk

2 months

@DrJimFan @Tesla_Optimus The new Optimus hand later this year will have 22 DoF

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Kenny Shaw

@kenny__shaw

5 months

Autonomously opening ANY door in ANY environment is a very hard problem. We 1) Initialize our policy with VLM + priors and adapt continually to the real world using RL. 2) Develop robust, repeatable, low-cost hardware to unlock new robot performance

Haoyu Xiong

@Haoyu_Xiong_

5 months

Introducing Open-World Mobile Manipulation 🦾🌍 – A full-stack approach for operating articulated objects in open-ended unstructured environments: Unlocking doors with lever handles/ round knobs/ spring-loaded hinges 🔓🚪 Opening cabinets, drawers, and refrigerators 🗄️ 👇

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Kenny Shaw

@kenny__shaw

7 months

Great results using our open-source LEAP Hand for functional grasping!

Ananye Agarwal

@anag004

7 months

Robotic intelligence requires dexterous tool use, but generalizing across tools is hard. Our CoRL23 paper combines semantics (affordances) with low-level control (sim2real) to show functional grasping that generalizes to hammers, drills and more! 1/n

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Kenny Shaw

@kenny__shaw

4 months

Great project using Mocap gloves to collect accurate human hand data that can transfer to our LEAP Hand. The autonomous results are great! Best of all, everything is open source and very inexpensive to replicate. Congrats @chenwang_j and SAIL team!!!

Chen Wang

@chenwang_j

4 months

Can we use wearable devices to collect robot data without actual robots? Yes! With a pair of gloves🧤! Introducing DexCap, a portable hand motion capture system that collects 3D data (point cloud + finger motion) for training robots with dexterous hands Everything open-sourced

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Kenny Shaw

@kenny__shaw

4 months

Another great LEAP Hand paper with deformables! Build your own in only a few hours.

Jun Yamada

@junjungoal

4 months

We introduce D-Cubed, a novel trajectory optimisation method using a latent diffusion model trained from a task-agnostic play dataset, including only representative hand motions, to solve dexterous deformable object manipulation tasks! (1/N)

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Kenny Shaw

@kenny__shaw

4 months

Dynamixels are truly great. It's almost similar to what Python is in software: a great abstraction layer on actuation. It allows us to focus on the robot design and learning itself.

Alexander Koch

@alexkoch_ai

4 months

Open-source robot arm for about $200. It uses five Dynamixel servo motors and weighs slightly over 100g (without the base). The design for a leader arm is included as well so that you can teleoperate it effectively. (Video is at 1x speed)

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Kenny Shaw

@kenny__shaw

3 months

Demo is all you need right now for the hype 😅

Aidan Gold

@MrGoldBro

3 months

This has to be peak AI frenzy. Cognition Labs potentially raising at a $2B valuation, just weeks after announcing their $21M raise at $350M. Do they even have $1M in revenue?

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Kenny Shaw

@kenny__shaw

3 months

This also applies to robot hardware open-sourcing. Creating LEAP Hand for a demo was one thing but creating an open-source guide and community was a whole new ballgame for me.

Pieter Abbeel

@pabbeel

3 months

resonates with my own experience: robot demo --> INSANE PAIN --> robot creating value in production luckily I am hopeful we have by now paid most of our dues at Covariant :)

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Kenny Shaw

@kenny__shaw

4 months

Open source, reproducible hardware should be the future of robotics. Especially as manufacturing techniques such as 3D printing technology and CNCing continues to improve.

Ryan Hickman

@ryanmhickman

4 months

The power of open source hardware! I met @chichengcc and his new UMI grippers at Stanford last week. Turns out they've already been adopted on a humanoid by @benjamin_bolte and @_mattfreed 🙌

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Kenny Shaw

@kenny__shaw

4 months

Stay tuned 😉

Chen Wang

@chenwang_j

4 months

@kenny__shaw Thanks Kenny!! LEAP hand really helps us greatly. Can’t wait to try out more new hands from you!

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Kenny Shaw

@kenny__shaw

4 months

Is there any info on who Watney Robotics is? New startup?

Watney Robotics

@watneyrobotics

4 months

Do you really need legs? We don't think so. As much we love anthropomorphic humanoids (our co-founder built one in 9th grade), we believe virtually all menial tasks can be done with two robot arms, mounted on wheels. In our view, @1x_tech 's Eve robot is the optimal form factor

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Kenny Shaw

@kenny__shaw

4 months

Very fun demo! I love how in-the-wild and purchasable Unitree robots are vs the other humanoids.

Xuxin Cheng

@xuxin_cheng

4 months

Thanks for @NVIDIAGTC for featuring our live demo at GTC! Wouldn’t be possible without @UnitreeRobotics ‘s technical support. Website:

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Kenny Shaw

@kenny__shaw

3 months

Oh man, is apple getting into the race now.....? 😅

Sawyer Merritt

@SawyerMerritt

3 months

NEWS: Apple is exploring home robots as its potential ‘next big thing’ after its car efforts failed.

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Kenny Shaw

@kenny__shaw

8 months

How do we practice safely in the environment? We use DASH hand, our soft, dexterous end-effector. It has a small, human-like kinematic structure and is strong yet resilient to collisions. This enables continual policy learning on 9 tasks over several hours of evaluation. 5/

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Kenny Shaw

@kenny__shaw

5 years

@SiaTechHQ @HackMIT @DavidVorick @lukechampine @zachherbert @manasilvora @MJSevey @eddiepluswang Nice to meet you guys at HackMIT, what a great surprise as long term fans!

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Kenny Shaw

@kenny__shaw

8 months

DEFT: Dexterous Fine-Tuning for Hand Policies was done by @aditya__kannan , me, @shikharbahl , Pragna Mannam and @pathak2206 . Come to our #CoRL2023 poster and try the hand out for yourself! Website: 6/6

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Kenny Shaw

@kenny__shaw

2 years

Interesting work by Shikhar!

Deepak Pathak

@pathak2206

2 years

How can we enable robots to perform diverse tasks? Designing rewards or demos for each task is not scalable. We propose WHIRL which learns by watching a single human video followed by autonomous exploration *directly* in the real world (no simulation)!

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Kenny Shaw

@kenny__shaw

4 months

Exciting times in the robotics startup space!

Chelsea Finn

@chelseabfinn

4 months

I’m really excited to be starting a new adventure with multiple amazing friends & colleagues. Our company is called Physical Intelligence (Pi or π, like the policy). A short thread 🧵

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Kenny Shaw

@kenny__shaw

4 months

Yeah....sim2real for manipulation is very hard. I bet they aren't even simulating the legs really properly when doing manipulation policies.

Chris Paxton

@chris_j_paxton

4 months

So not to pick on agility here, because I love their robot and everything they've shown, but watch the feet in this video, between 1 and 2 seconds, to get an idea why getting sim-to-real for manipulation to work well is so hard

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Kenny Shaw

@kenny__shaw

4 months

It was great chatting with you Yunzhu! Exciting work!

Yunzhu Li

@YunzhuLiYZ

4 months

I had the pleasure of visiting @CMU_Robotics over the past two days to give a VASC seminar talk and a guest lecture. Thanks @GuanyaShi for the amazing host! 🙌 The seminar talk was about our recent work on "Foundation Models for Robotic Manipulation": 🤖

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Kenny Shaw

@kenny__shaw

3 months

The same question we are facing in manipulation for robotics.

Elon Musk

@elonmusk

3 months

@jamesdouma Yes. Reality is far too complex and weird to solve the data problem in sim.

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Kenny Shaw

@kenny__shaw

4 months

Could be interesting for humanoids/robot hands also. I wonder how the tracking compares to a mocap glove.

Younghyo Park

@younghyo_park

4 months

🥽 Want to use your new Apple Vision Pro to control your robot? Want to record how you navigate / manipulate the world to train a policy? I developed an app for VisionOS that can stream your head / wrist / finger movements over WiFi, which you can subscribe on any machines using

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Kenny Shaw

@kenny__shaw

4 months

Very disappointing to hear that ROS 2 is slow. I thought ros2 was supposed to be a lot faster than ros1 and good enough for teleop. 😞

Chris Paxton

@chris_j_paxton

4 months

Interesting (and sad) result here; I really had hoped more people would be able to just run with ROS2. But it seems like it's not quite there, if this is in any way worth doing for a small company/fast-moving startup that should be the target audience.

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Kenny Shaw

@kenny__shaw

8 months

We improve beyond the prior with real world fine-tuning. Grasp parameters are sampled from a normal distribution initialized around the prior’s outputs. These parameters are tested in the real world and assigned rewards. We iterate upon the distribution to maximize reward. 3/

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Kenny Shaw

@kenny__shaw

4 months

Very cool to see some serious hardware at these humanoid companies.

1X

@1x_tech

4 months

Manufacturing update: taking delivery of a 5-axis CNC at the new NEO factory. The first of many machines to come. Prototype parts in hours instead of waiting weeks for a supplier 🚀 1X is a vertically integrated humanoid company. We make every part in-house, from winding our own

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Kenny Shaw

@kenny__shaw

2 months

@sirwart @korbencopy The more I see, I think the XC330 is worth the $$ over the XL330.

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Kenny Shaw

@kenny__shaw

4 months

One of the great enabling technologies of low-cost, low-volume robot hardware!

Remi Cadene

@RemiCadene

4 months

Amazed how easy 3d printing has become!

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Kenny Shaw

@kenny__shaw

2 months

@sirwart @Yannick46062890 One other thing, these Dynamixel U2D2s have 16ms of latency by default on most Linux OSes. On Mac you can't even get rid of it easily anymore. There's a troubleshooting on our leap hand API GitHub where if you change one driver setting it helps a lot with that latency at least.

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Kenny Shaw

@kenny__shaw

3 months

One things for sure, Tesla has solved the deployment problem already......once the AI models work it can be adopted very fast. Many startups right now have demos but are far behind on the deployment curve.

Sawyer Merritt

@SawyerMerritt

3 months

It took Tesla 3.5 years to hit 1 billion miles driven on FSD. I predict Tesla will hit 2 billion FSD miles in the next 45-60 days.

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Kenny Shaw

@kenny__shaw

3 months

Definitely! Cheap, reliable hardware + learning is a fun intersection to work on with lots of possibilities.

Chris Paxton

@chris_j_paxton

3 months

Cheap robots + learning will change the world

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Kenny Shaw

@kenny__shaw

4 months

The data inefficiency of our current ML/NN pipelines is a huge problem. Needs tons more data than what a human needs to learn from. If that can somehow magically improve it would have enormous impact.

Yann LeCun

@ylecun

4 months

No. If it were the case, we would have AI systems that could teach themselves to drive a car in 20 hours of practice, like any 17 year-old. But we still don't have fully autonomous, reliable self-driving, even though we (you) have millions of hours of *labeled* training data.

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Kenny Shaw

@kenny__shaw

3 months

The shoulder singularity is one I specifically see a lot on 6 DOF arms and teleop which can be frustrating. Keeping this in mind and lifting or lowering the table can actually help prevent these two axes from reaching alignment pose in my experience.

Ilir

@Ilir_AI

3 months

🤖 What are 𝗥𝗢𝗕𝗢𝗧 𝗦𝗜𝗡𝗚𝗨𝗟𝗔𝗥𝗜𝗧𝗜𝗘𝗦? A six-axis industrial robot arm has 3 types: 💡 Wrist singularities, elbow singularities, and shoulder singularities. 1️⃣ A wrist singularity occurs when the axes of joints 4 and 6 are coincident. 2️⃣ An elbow singularity occurs

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Kenny Shaw

@kenny__shaw

2 years

Nice to see articles covering our line of work on Telekinesis. 😃

TechXplore

@TechXplore_com

2 years

Robotic #telekinesis : Allowing humans to remotely operate and train robotic hands

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Kenny Shaw

@kenny__shaw

3 months

@sirwart @pathak2206 @anag004 @petrenko_ai I am using the Manus Meta glove. The other main option is Rokoko glove, you can see this in DexCap.

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Kenny Shaw

@kenny__shaw

3 months

Tesla maybe will become the biggest robot learning company in the world. Tesla cars with cameras and GPUs. And Optimus to bridge from navigation to manipulation. The car company thing was just to get started. 😅

Mahkus

@mahkusg

3 months

My Tesla engineer buddy on the Robotaxi

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Kenny Shaw

@kenny__shaw

3 months

@xiaolonw 100% agree. Otherwise hardware people do not know the correct thing to design/what learning people really need. And sometimes learning people don't know what hardware they want without trial and error.

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Kenny Shaw

@kenny__shaw

3 months

Is it getting hands soon? 🤔

Boston Dynamics

@BostonDynamics

3 months

We promise this is not a person in a bodysuit.

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Kenny Shaw

@kenny__shaw

8 months

To practice efficiently in the real world, we learn a grasp affordance prior from internet-scale human video datasets. This model predicts where (wrist pose) and how (hand joint angles) to grasp objects, initializing our policy to perform reasonable, human-like behavior. 2/

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Kenny Shaw

@kenny__shaw

8 months

A residual policy, conditioned on the image, is then learned to fit to the grasp and trajectory parameters of the top rollouts. At test time, we use the internet video prior and this learned residual policy together to rollout robot hand behavior. 4/

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Kenny Shaw

@kenny__shaw

4 months

My first GPU was the GT 240 from back in 2009 for mostly CAD. I remember being so excited about it. Now we buy 8x A6000 ($30k+) and I don't even bat an eye. 😅. Crazy how much GPUs have changed.

Linus Tech Tips

@LinusTech

4 months

Whats the first game that comes to mind when you see this?

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Kenny Shaw

@kenny__shaw

3 years

@mark_riedl "In particular, the word “foundation” specifies the role these models play: a foundation model is itself incomplete but serves as the common basis from which many task-specific models are built via adaptation."

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Kenny Shaw

@kenny__shaw

10 years

Hi

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Kenny Shaw

@kenny__shaw

3 months

Pretty cute design for a tall, wheeled, omnidirectional base

Self-balancing robot on mecanum wheels. Балансирующий робот на...

This robot was made by me completely from scratch. I used 4 omnidirectional wheels, 4 stepper motors, Arduino nano as the main microcontroller, a4988 driver,...

www.youtube.com

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Kenny Shaw

@kenny__shaw

3 months

@wang_jianren LOL. Those stickers were funny. They stopped doing that around the 600 series when we started doing blower coolers and multi-fam designs. 😂

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Kenny Shaw

@kenny__shaw

4 months

Pretty cool sim2real!

Unitree

@UnitreeRobotics

4 months

Unitree H1 The World's First Full-size Motor Drive Humanoid Robot Flips on Ground. Unitree H1 Deep Reinforcement Learning In-place Flipping ! #Unitree #UnitreeRobotics #AI #Robotics #Humanoidrobots #Worldrecord #Flips #EmbodiedAI #ArtificialIntelligence #Technology #Innovation

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Kenny Shaw

@kenny__shaw

4 years

@bit_cosby You're crazy lmao

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Kenny Shaw

@kenny__shaw

2 months

@trentshumay Waiting on conference reviewers to make up their minds. 😅

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby Man it's like Bitconnect, the top froth is intense.

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Kenny Shaw

@kenny__shaw

8 years

Theo is my favorite person!!! He is so cool and gay :D also Katelyn rox my sox

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Kenny Shaw

@kenny__shaw

3 months

I wonder if this is the scale we need for manipulation foundation models in robotics too.

Elon Musk

@elonmusk

3 months

@sobieski902 Pretty much. It has been staggeringly difficult to make generalized self-driving work, requiring all that you describe above and more. The investment in training compute, gigantic data pipelines and vast video storage will be well over $10B cumulatively this year. But that

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Kenny Shaw

@kenny__shaw

2 months

@sirwart Lighter is almost impossible without removing strength or switching away from electric motors. For reference, shadow hand is close to 5kg and that's the only way they can get the strength and dof.

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Kenny Shaw

@kenny__shaw

5 years

@bit_cosby Yeah you're thinking shorter term than I am. I still think long term XTZ doesn't have that much going for it but I dunno.

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby The rug pools are the fun parts. Greed gone to shit 🤣

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Kenny Shaw

@kenny__shaw

4 years

@bit_cosby Odd place to short given the rejection of lows?

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Kenny Shaw

@kenny__shaw

3 months

If this is true.....we are going to be in for a wild rest of 2024 😳

Evan

@StockMKTNewz

3 months

Jim Cramer says the AI buzz is far from a bubble — the game has yet to start - CNBC “In terms of innings, I don’t think the AI game has even started yet” - Jim Cramer

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Kenny Shaw

@kenny__shaw

2 years

@PeterMitrano @weights_biases Wandb is real good, I wonder if the price will go up soon though it feels unsustainable 🤔

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby I agree, it's very scammy and leverage kills. Gotta hold it long term and ride the trends.

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby Question is this a flash crash or start of bear market.

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Kenny Shaw

@kenny__shaw

6 years

Loved working with Pal3!!!

USC ICT

@USC_ICT

6 years

Did you know? The @USNavy determined a need for knowledge maintenance between sailor’s school learning & assignments so they enlisted computer scientists, educators & artists at ICT to collaborate w/ leading universities in order to create PAL3. Learn more

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby @inversebrah Oh boy drunk again 😂

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby This was a story in 3 tweets 🤣

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby Not just you

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby Sideways then continue dippies as people get bored and sell out.

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Kenny Shaw

@kenny__shaw

4 months

@chris_j_paxton Yes.....these simplifications can require a lot of effort to fine-tune in sim. And then real world transfer from there can be even more difficult or impossible.

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby Add LTC to that too.

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Kenny Shaw

@kenny__shaw

4 years

@bit_cosby You're so impatient man gotta be zen and wait a month for 3% 😂

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby Its priced purely on supply and demand, purely with NO backing of any sort. And demand and supply can be super "trendy" or FUDy

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby @bit_cosby check out SHIB it's stupid 🤣

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby Yup true, agreed

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby You might be a touch early? Hard to say.

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby Next up: Elizabeth Warren opens 100x short on Bitcoin to destroy it's valuation.

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby I'm hoping to long oil sub $60 and then sit on it for a year and hope for inflation or reopening eventually

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby Shorting the hole right now feels stupid but longing can also be fighting a tidlewave.

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Kenny Shaw

@kenny__shaw

4 years

@bit_cosby It's hardly moving here I might get out lol

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby still short btc, long gold tight sl.

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby 🎢🎢🎢👌👌👌🐻🐻🐻

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Kenny Shaw

@kenny__shaw

5 years

@bit_cosby Same

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby 100% lmao

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Kenny Shaw

@kenny__shaw

5 months

@richardkelley There is nothing explicit in our door opening policy for transparent doors/walls, it is all either learned from priors or adapted to in the real-world using VLM rewards. The navigation to be clear is hard-coded and not part of our policy.

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby Good luck!

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Kenny Shaw

@kenny__shaw

4 years

@bit_cosby Lmao best of luck 😂

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby OH LMAO

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby Nice work

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Kenny Shaw

@kenny__shaw

5 years

@bit_cosby hmm, zoom out I'll be holding my short a bit longer lol.

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby There we go

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby Oooga, shorting the hole like that is hard, massive gains 25% of the time but most of the time stopped out.

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby I thought it was finished?

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby Ah gotcha. Then I was the idiot shorting at 0.06 to 0.05

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Kenny Shaw

@kenny__shaw

3 years

@bit_cosby @binance Tag my man CZ lol

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Kenny Shaw

@kenny__shaw

4 years

@bit_cosby Very true. It was looking like it was gonna run away from me, truth be told couple dollars from my stop loss. Got a little lucky here but sometimes when it looks shitty you can turn it around.

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Kenny Shaw

@kenny__shaw

4 years

@bit_cosby Dude I've been short xrp since before the announcement it's been nuts 😂

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Kenny Shaw

@kenny__shaw

4 years

@bit_cosby More blood coming you think?

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Kenny Shaw

@kenny__shaw

4 years

@bit_cosby Yeah hard to say, long for a new ATH? I'm thinking if we hit the 200ma on the 4 hour over the weekend might be an OK short to try there.

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