Playing Chess with an SO-101 Robot Arm
Teaching π0.5 to play physical chess with the SO-101 robot arm: How I got to a working demo and what is planned next.
Posts
Papers Week
Reading five papers in five days: Kimi K2.5, DeepMind’s work on AI4MATH, QED-Nano, Numina-Lean-Agent, and I-JEPA.
Let's see how TRM reasons
Looking inside the Tiny Recursive Model’s latent recursion traces on ARC, with the hypothesis that its intermediate states decompose a task into reusable concepts.
Paper notes: σ-GPTs, A New Approach to Autoregressive Models
σ-GPTs generate a sequence in any order, not just left to right — two small changes to a standard GPT, and a rejection-sampling trick that fills in many tokens per pass.
Paper notes: Longformer, The Long-Document Transformer
Longformer replaces full self-attention with a sliding window plus a few global tokens, cutting the quadratic cost down to linear in sequence length.
Paper notes: Reasoning over Paths in Knowledge Bases using Reinforcement Learning
MINERVA answers knowledge-graph queries by learning to walk the graph: a policy-gradient agent that picks one outgoing edge at a time instead of enumerating every possible path.