Technical Notes

Blog

Technical notes, and mathematical reflections on AI and Robotics.

10 min read

Unitree G1 Whole-Body Teleoperation & Data Collection

A weeks 1–12 engineering log on the Unitree G1 humanoid: VR teleoperation, comparing IK + RL against a SONIC whole-body policy, hardware setbacks, and a first autonomous Psi0 VLA policy deployed from the collected demonstrations.

Robotics Humanoid Teleoperation VLA
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15 min read

The Math Behind World Model Paradigms for Robot Learning

A mathematical analysis of IDM-style, Single-backbone-style, and MoT-style world-model paradigms in robot learning from the perspectives of probabilistic modeling, structured optimization, gradient conflict, and parameter coupling.

Robot Learning World Models Mathematical Notes
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