Open X-Embodiment: Robotic Learning Datasets and RT-X Models

RedPajama-V2 is an open dataset for training large language models. The dataset includes over 100B text

documents coming from 84 CommonCrawl snapshots and processed using

the CCNet pipeline. Out of these, there are 30B documents in the corpus

that additionally come with quality signals. In addition, we also provide the ids of duplicated documents whic... See more

📖 Introduction

XAgent is an open-source experimental Large Language Model (LLM) driven autonomous agent that can automatically solve various tasks. It is designed to be a general-purpose agent that can be applied to a wide range of tasks. XAgent is still in its early stages, and we are working hard to improve it.

🏆 Our goal is to create a super-in... See more

基于物理引擎的仿真器,如Pybullet、Mujoco、Isaac Gym等,为获取大量机器人交互数据提供了一个有效的方式。研究者们可以先在仿真器中进行训练,之后再迁移到真实机器人上。

here are two basic approaches to creating AI datasets. The first one, which is typical of the case we have been studying, a pool of open works is purposefully chosen to ensure license compliance. The second approach creates the dataset by scraping the “raw internet” and relying on copyright exceptions. LAION , a dataset of 400 million image-text pa... See more

整个sim-to-real过程如图4所示,共分为四步:

(1)识别出机器人的物理参数,并对机器人进行刚体运动学/动力学建模;

(2)收集真实的关节电机执行数据,训练一个Actuator Net;

(3)在仿真中,利用Actuator Net建模关节电机,并结合第一步中的刚体运动学/动力学建模,进行强化学习;

(4)将第3步中训练得到的策略部署到真机上。

pair-preference-model-LLaMA3-8B by RLHFlow: Really strong reward model, trained to take in two inputs at once, which is the top open reward model on RewardBench (beating one of Cohere’s).

DeepSeek-V2 by deepseek-ai (21B active, 236B total param.): Another strong MoE base model from the DeepSeek team. Some people are questioning the very high MMLU sc... See more