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Excited to share Flow Matching Policy Gradients: expressive RL policies trained from rewards using flow matching. It’s an easy, drop-in replacement for Gaussian PPO on control tasks.
David McAllister retweeted
Hi all, I have a new result I'm excited to share. It turns out that *all existing implementations* of softmax and cross-entropy (that's JAX, PyTorch, textbooks, etc) have a subtle bug --- two bugs, actually. A simple rewrite fixes both, and eliminates "slingshots" when grokking:
David McAllister retweeted
Can diffusion models generate high-quality images without CFG?
Yes! We introduce ✨Correction Training for Diffusion Models✨, which significantly improves sample quality without relying on classifier-free guidance.
Project page: sunovivid.github.io/correcti…
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David McAllister retweeted
We’re releasing a broad range of new mathematical results produced by an internal frontier model.
We’ve been consulting with the independent Advisory Group on Mathematics and Artificial Intelligence at the Institute for Advanced Study, and we have drawn on their advice and public recommendations to inform how we release these results.
github.com/openai/math
David McAllister retweeted
Almost all bimanual robots include wrist cameras. They add bulk, cost, and complexity, but are critical for performance. Are they really needed?
Excited to finally share EyeRobot 2.0, where we use active gaze from an ego stereo camera instead 🧵 (with @kushtimusprime)
David McAllister retweeted
In this era of artificial intelligence, it is becoming urgent to distinguish human art from what machines produce. There is an ontological difference, even before an aesthetic one, between art and what a machine can generate through statistical calculation based on millions of images created by others. Algorithms lack the spark of humanity. For this reason, the Church wishes to renew an alliance with artists and cultural institutions to safeguard our humanity.
ABC is fully released, time to build!
Happy to announce the full ABC release! We’re also excited that ABC was accepted to CoRL 2026!
Check out our website for code, 400+ hours of sim data on 24 tasks, and 5,850 labeled policy-evaluation episodes.
@arthurallshire @Cinnabar233 @ritvik_singh9 @redstone_hong @davidrmcall
I’ll present FDFO at ECCV tomorrow during Poster Session 2 (4:30–6:30 PM CEST), in ExHall near poster board #477! 🐈
David McAllister retweeted
Excited to share SPD: simulation pre-training for dexterity. We pre-trained a policy in simulation and fine-tuned with less than 2 hours of real data (with @sarthakkamat)
David McAllister retweeted
Why create robot intelligence for just one hand, when we could have it learn from many?
GEN-1, our latest embodied foundation model, now supports a broad range of end effectors from 5-finger hands, to specialized tools, and everything in between.
David McAllister retweeted
Today, we’re introducing [schema]: a harness reaching 99% RHAE with Opus 4.8 + Fable 5 and 95.35% with GPT-5.6 Sol on ARC-AGI-3 Public set.
[schema] makes an LLM think like a physicist. 🧵
David McAllister retweeted
Children learn from play. Can robots do the same?
We propose 𝐏𝐥𝐚𝐲𝐟𝐮𝐥 𝐀𝐠𝐞𝐧𝐭𝐢𝐜 𝐑𝐨𝐛𝐨𝐭 𝐋𝐞𝐚𝐫𝐧𝐢𝐧𝐠, a paradigm that gives embodied coding agents a play stage before downstream tasks arrive, and instantiate it with 𝐑𝐀𝐓𝐬 (Robotics Agent Teams), where robots discover reusable skills through curious play.
Co-led with @jiaxin_ge_
A huge team effort! Fully open data, infrastructure and eval for the community to build on
Introducing ABC: open data, training, and infrastructure for robotics.
We release the largest teleop dataset to date, and extensively investigate design decisions, pretraining, and post-training techniques.
@arthurallshire @Cinnabar233 @adamrasb @redstone_hong @davidrmcall
David McAllister retweeted
Announcing @xdofai: We’ve raised $70 million to build the core robotic infrastructure ecosystem for robot foundation models.
My cofounders Fred (@YideShentu), Nemo (@itsnemojin) and I have been pursuing the dream of general purpose robots for our entire lives. After work at Covariant, Meta and Tesla, it became clear to us that general purpose robots are coming, and we are building XDOF to help make them a reality.
For the last two years, we’ve been working behind the scenes to support major labs and companies deploying robots. In us, they have a partner with full-stack expertise, from hardware to operations to policy training.
As our first public contribution to the space, we are open-sourcing ABC-130K, the largest open source teleoperation dataset, in collaboration with our partners from UC Berkeley, Carnegie Mellon, MIT and Amazon FAR.
Thank you to our customers, partners, collaborators and investors for your trust and conviction in us. Together, we can accelerate the future of robotics!
David McAllister retweeted
💥Introducing FACTR 2, learning external force sensing on commodity robot arms without needing dedicated sensors.
We show that learned force signals enable force-feedback teleop on low-cost arms and improve BC policies.
FACTR 2 consists of:
1. Neural External Torque (NEXT): learns external forces without needing dedicated force sensors.
2. Force-Informed Re-Sampling Training (FIRST): uses the learned force signal to identify task-critical regions and upsample them during training.
w/ @StevenOh_ @_tonytao_
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We developed a simple, sample-efficient online RL technique for post-training image generation models. We see it as a possible steerable alternative to CFG, driven by any scalar reward, including human preference.
Check out our blog post at mcallisterdavid.com/fdfo-blo… for a walkthrough of our design decisions.
w/ fantastic collaborators: Miika Aittala, Tero Karras, Janne Hellsten, @akanazawa Timo Aila and Samuli Laine
