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Excited to introduce PyRoki ("Python Robot Kinematics"): easier IK, trajectory optimization, motion retargeting... with an open-source toolkit on both CPU and GPU
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Chung Min Kim
@ChungMinKim
PhD @ UC Berkeley 🧸🌅
299 Following 1.4K Followers 125 Posts
Latest posts 5
Excited to introduce QF3: Fast Flow RL with Filtered Q-Gradients!
Train humanoids from scratch, fine-tune VLAs, even fine-tune image models... all with one simple off-policy update ✨
Train humanoids from scratch, fine-tune VLAs, even fine-tune image models... all with one simple off-policy update ✨
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When there's good synergy between works A and B then it's no longer "A + B" research it's "A x B" research
I’m so tired of writing rebuttals to this kind of “lack of novelty” review: “This paper trivially combines A, B, and C, so the algorithmic novelty is limited.”View quoted post on X
Technically, most (if not all) robotics papers are convex combinations of existing ideas.
I still deeply appreciate A+B+C papers—especially when they deliver:
- New capabilities: the “trivial combination” unlocks behaviors we simply couldn’t achieve before
- Sensible & organic design: A+B+C is clearly the right composition—not some arbitrary A′+B+C′
- Nontrivial interactions: careful analysis of the dynamics, coupling, or failure modes between A, B, C
- Rehabilitating old ideas: A was dismissed for years, but paired with modern B/C, it suddenly works—and teaches us why
- System-level & "interface" insight: the contribution is not any single piece, but how the pieces talk to each other
- Scaling laws or regimes: identifying when/why A+B+C works (and when it doesn’t)
- Engineering clarity: making something actually work robustly in the real world is not “trivial”
- New problem formulations: sometimes the real novelty is in the reformulation—only under this view does A+B+C make sense.
Maybe worth keeping these in mind when reviewing the next A+B+C paper : )
@brenthyi and I are at #IROS2025 to present PyRoki 🫶
Find us either:
- tomorrow (tues 10:30am) in room 102C, or
- anytime during the conference!
Find us either:
- tomorrow (tues 10:30am) in room 102C, or
- anytime during the conference!
Excited to introduce PyRoki ("Python Robot Kinematics"): easier IK, trajectory optimization, motion retargeting... with an open-source toolkit on both CPU and GPUView quoted post on X
mind blowing !! 🤯 … powered by better retargeting
Our grand finale: A complex, long-horizon dynamic sequence, all driven by a proprioceptive-only policy (no vision/LIDAR)! In this task, the robot carries a chair to a platform, uses it as a step to climb up, then leaps off and performs a parkour-style roll to absorb the landing. This pushes the boundaries of agile, human-like loco-manipulation!
7/9View quoted post on X
