https://heyjiacheng.github.io/blog/ Technical notes and mathematical reflections on AI and robotics. en https://heyjiacheng.github.io/blog/unitree-g1-teleoperation/ https://heyjiacheng.github.io/blog/unitree-g1-teleoperation/ Thu, 25 Jun 2026 00:00:00 GMT From VR teleoperation to an autonomous, language-conditioned VLA policy on the Unitree G1 humanoid: teleop, IK + RL vs. SONIC, data collection, and a deployed Psi0 policy. https://heyjiacheng.github.io/blog/math-of-world-model-paradigms/ https://heyjiacheng.github.io/blog/math-of-world-model-paradigms/ Fri, 19 Jun 2026 00:00:00 GMT 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.