January 22nd, 2025
A technical diary documenting the common pitfalls of training robotic policies to solve challenging tasks in the real world. This post records bugs encountered during deploying large foundation policies on real robots.
October 2025
A visual guide to the π0 and π0.5 model architectures. This post provides detailed architectural diagrams illustrating how Flow Vision-Language-Action models process multimodal inputs to generate robot actions through flow matching.
October 2025
A comprehensive exploration of the Fokker-Planck equation and its applications in diffusion generative models, including proofs, special cases, and connections to flow matching processes.
Download the PDF here.