Life Dashboard

Current State

Pixel-aligned robot action framework. Testing in sim (LIBERO) and on real robots. Core pitch: a robot policy that generalizes better to new viewpoints, new object positions, and is more data efficient.

Recent Progress

• Panda camera calibration DONE (ArUco board + new solver)
• Custom medium-length robot arm printing now
• PARA baseline training on LIBERO spatial (all tasks)
• ACT / DINO-VLA / InternVL baseline comparisons done
• UVA video backbone training on LIBERO
• DROID dataset download pipeline complete
• Exploring cross-embodiment + egocentric pre-training

Remaining

• ☐ OOD object position eval sweep
• ☐ OOD viewpoint eval sweep
• ☐ UVA + PARA end-to-end training
• ☐ DROID pretraining run
• ☐ LIBERO fine-tuning from pretrained checkpoint
• ☐ Real robot deployment and eval
• ☐ Final comparison tables and paper figures

Current State

Building low-cost SO100-style arm. Printed last 3 links, EEF almost done printing. Also planning a smaller double-jointed rapid prototyping arm. Two 3D printers available for parallel printing.

Recent Progress

• Printed first 3 links — proportions match ARX arm target
• Designed and printed last 3 links
• End effector almost done printing
• Bought second 3D printer for parallel printing
• Planning smaller-than-SO100 double-jointed version

Next Steps

• ☐ Wire up the arm and calibrate (tomorrow)
• ☐ Build smallest possible arm for confidence
• ☐ Build double-jointed version
• ☐ Scale up link lengths
• ☐ Connect to perception / policy pipeline
• ☐ Start implementing real-world policy papers

Action Items

• ⚠ Call DMV — car registration renewal (overdue weeks)
• ☐ Plan and schedule classes
• ☐ Revisit Airbnb for TRI internship — find better housing option

TRI Internship

12-week internship at Toyota Research Institute, Los Altos. Housing budget ~$2000-2600/mo. Looking at Mountain View / Los Altos area. Need to finalize furnished short-term housing.

Other Recurring

• ☐ 567 homework — keep chipping away
• ☐ Ask advisor about master's student for Panda experiments