
Principal AI Engineer @vesoma_ai; prev: RS @GoogleDeepMind; research @oxfordrobots @Oxford_VGG @StanfordSVL AI researcher, robot trainer and video game nerd.
Munich, Germany
Joined July 2018
- Tweets569
- Following572
- Followers2.9K
- Likes9.8K
Pinned Tweet
Development sneak peek: Our boxy prototype “Kyle” already walks with confidence. 🤖 A testament to what a dedicated team with full ownership of HW and AI stack can build from scratch in just a few months. Very excited to be part of this amazing crew moving fast together. 🚀
1/2
I have watched a lot of humanoids walk over the last years. In my honest assessment, this is one of the better gaits out there - and it is still our very early stage. Congrats Martin Riedmiller & team!
We decided showing the alpha platform unblurred for the first time. Until now we covered it in every clip, because it is an internal development mule and not the product. Generation 1 is progressing well and we are relaxed about showing what came before it.
And we simply grew fond of this machine. The boxy shape is the direct result of rapid prototyping that allowed for the record design and build time. Exactly that raw frame is what makes the contrast so striking once it starts moving. A boxy machine man with a very organic character.
Generation 1 gets unveiled early 2027. If you’ve build humanoids before or shipped hardware at scale, consider joining.
Oliver Groth retweeted
Just 4 days after SuperMimic, MorphMimic from Caltech extends it to whole-body motion tracking across several humanoids! What a pace of progress!
One world model and one policy are shared by Unitree G1, AgiBot X2 Ultra and Booster T2, conditioned on each robot's actuation, geometry and mass. In simulation, the shared model tracks about as well as per-robot specialists. On a real G1, it dances, walks and follows a VR teleoperator.
Closest to MorphMimic, X-WBC (arxiv.org/abs/2609.15213) trains one whole-body controller across nine simulated and four real humanoids, but gives each robot its own input and output modules. MorphMimic shares every weight, world model included.
For contrast, @NicoBohlinger et al. trained one locomotion policy on 50 legged robots with different joint layouts, which transfers zero-shot to unseen real robots (now scaled up in γ₀: gamma-zero.com). However, MorphMimic trains a whole-body tracker, which does far more than walking, though all robots must adhere to the same 29-joint layout, and the method has not been tested on unseen robots yet.
The next step is inviting itself: MorphMimic across different joint layouts 🚀
One world, one policy.
MorphMimic shares a morphology-conditioned world model and policy across #Unitree G1, #AgiBot X2 Ultra, and #Booster T2—from the same dance in MuJoCo to a live browser demo and Unitree G1 hardware, with more to come. Code and report at lzyang2000.github.io/morphmi…
Huge thanks to the SuperMimic team for the inspiration!
Oliver Groth retweeted
What is the real bottleneck in robotics: bigger policies, or turning the world's physical experience into supervision robots can learn from? A new position paper from @MotoniqLabs, a startup building toward this vision, argues for the second. Co-authors include @Jan_R_Peters, Marco Hutter, @MacSchwager and @hbouammar.
Human videos, motion capture and failed rollouts rarely come with robot actions, contacts or rewards. The paper proposes four missing pieces:
• autolabelling of raw physical experience
• retargeting that preserves the task effect rather than the pose
• world models that predict physical consequences rather than pixels
• a deployment loop where each failure updates the component that caused it
The idea I like most: retargeting as a hierarchy, from matching pose to matching contacts, object state and finally intent. A robot can move very differently from a human and still do the same task.
Paper: arxiv.org/abs/2606.06556
Website: motoniq.ai
Oliver Groth retweeted
“The more you delegate, the more your fundamentals matter, because you cannot supervise what you do not understand.”
Yesterday a junior researcher messaged me, frustrated and a little scared. They had just read that a company pretrained its model with a single researcher. One person for the entire pretraining. no R&D team, no nothing.
If one person and a cluster can do what used to take a whole team, then the expertise they had spent years building is already obsolete.
I get the fear. Marketing headlines like this are built to produce it. But I think the conclusion is wrong, and the reasons it is wrong say a lot about what a researcher is for now. Here is what I told them, expanded:
1. Be adaptive: RSI is real, but this isn't it yet
Recursive self-improvement is real, and you should plan around it. In September, OpenAI said its research org now logs 3.1 agent-workdays per human workday, and it aims for an automated AI researcher by March 2028. Models may soon run most of pre- and post-training. If your five-year plan assumes otherwise, change the plan.
We have already seen lots of open-source releases from the major players, with open weights and detailed technical reports. With that much public know-how, it is not hard to copy a mundane architecture (probably with sliding-window attention) and train something, as long as you have the compute it requires.
That makes it an execution and budget problem, not a research problem.
If one person can train a model by following recipes that are already public, it shows those recipes have matured. It does not show that the people who invented them are no longer needed.
What stays scarce is the compute to run those recipes and the ideas about what to try next. The rest of my tweet is about the ideas.
2. The role grows beyond repeating what's known and safe
If an agent and a cluster can reproduce what is already known, then reproducing what is already known stops being a career. If most of your job is rerunning last year's recipe with small tweaks, that job is shrinking fast. That is the uncomfortable half of the message.
The other half is that auto-research does not work yet, at least not in the sense that matters. It does work, and impressively, where someone has already defined the problem and built the scoreboard. On the EinsteinArena [1] platform, agents set new records on 11 open math problems, including raising the best known lower bound for the kissing number in dimension 11 from 593 to 604.
Notice that every one of those problems was chosen because a computer could score the answers automatically. Humans picked the problems and wrote the scoring code and the agents did the searching.
Then there is the fully AI-generated paper [2] that got through peer review. It sounds big until you read the details. It passed only the first round (was later withdrawn), at a workshop rather than the main conference, and that workshop accepts 70% of submissions.
None of this is meant to discredit agents. The point is that we complement each other. Agents are great at the work that used to take many weeks. Basically, writing code, running experiments, debugging pipelines. We bring what they still lack which is the idea worth testing, and the judgment to tell a real result from a lucky one.
Even inside a lab as agent-heavy as OpenAI, humans hold the top of the stack. Based on their own report, "People still set our research priorities, judge which ideas and results to pursue" [3]. High-level planning is still a tiny share of what its agents produce, and OpenAI expects the least automatable work to take a growing share of researcher effort. That is exactly where you want to be standing.
Combine an agent’s speed with your own ideas and judgment, and you get the 10x researcher and juniors can be one too.
3. Judgment becomes the job, so fundamentals matter more
When code, experiments and plausible-looking results cost almost nothing, the scarce skill is judgment. Which experiment to run, which result to believe, which direction to drop. That is the part the one-person pretraining run left to the human. It is also the hardest part to fake.
Agents produce confident output very fast. They will happily report a three-point gain that came from a leaky eval, a data-loader bug, a lucky seed or a tokenizer mismatch. Then they will write the ablation table and the story to match.
You can see the need for oversight even in the success stories. The EinsteinArena team had to keep auditing and hardening its verifiers as agents optimized aggressively against them. At OpenAI, over half of the successful agent tasks that would take a human 4–8 hours still involved at least one human intervention [3].
The person who catches the bad result is the one who understands the system. Why the loss curve has that shape, what a realistic gain looks like, what a too-good result looks like. That is the paradox of this era. The more you delegate, the more your fundamentals matter, because you cannot supervise what you do not understand.
So build the foundations on purpose. Implement attention by hand at least once, then a linear variant like Gated DeltaNet. Train a small model end to end, then break it deliberately and watch what happens. Read papers critically, appendix included, and learn what the numbers should look like before you see them.
That knowledge is what lets you direct the machine instead of simply believing it.
4. LLMs are far from solved
The one-researcher model was possible because the method was already public. Your edge is in the questions nobody has answered yet, and you don't need to leave LLMs to find them:
(1) How do we learn more from less data?
(2) Can linear attention like Gated DeltaNet match full attention on retrieval and long context, and what is the right mix of linear and full attention layers in a hybrid?
(3) How can a model keep learning after training without forgetting what it knew?
(4) Why does reasoning get less reliable over long tasks, and how do we fix it?
(5) Why do models make things up, and can they learn to say "I don't know"?
(6) How do we measure progress when benchmarks saturate or leak into training data?
(7) What is actually happening inside these models, and how do we keep increasingly autonomous ones doing what we intend?
Recursive self-improvement makes these questions more urgent. If models are going to train models, someone has to decide what they optimize for, how we measure it, and how we keep the loop from drifting.
RSI is a research agenda, not the end of one.
So, are you obsolete?
No. One version of the job is the one where research meant reproducing what was already known and safe. That version was never the point.
Learn your fundamentals deeply enough to judge the machine, and your agentic stack well enough to make it work for you. Then spend that leverage on ideas nobody has had yet. The machines are getting very good at driving on roads we have already paved; someone still has to decide where the next one goes.
[1]: arxiv.org/abs/2606.10402
[2]: arxiv.org/abs/2606.15497
[3]: openai.com/index/research-ac…
Oliver Groth retweeted
World models are an important part of physical AI. But understanding how the world behaves and mastering acting and manipulating in it are two different challenges.
That’s one of the questions we discussed at NVIDIA GTC Berlin today.
For general-purpose robotics, at @vesoma_ai we believe the real breakthrough will come when powerful representations of world understanding meet control intelligence capable of reliably mastering physical interaction.
Great discussion with Robin Rombach, Zeev Farbman, and Efrat Swissa. Thanks to @nvidia for bringing us together!
From generating pixels to understanding the physical world. The challenge: building intelligence that can reliably act in the real world.
Vesoma CEO @nikensslen joined @robrombach, @ZeevFarbman & @EfratSwissa at #NVIDIAGTC Berlin to discuss world models and Physical AI.
Oliver Groth retweeted
🚨 Attention, Robot Learning community!
For the first time, @corl_conf is introducing a Call for Late-Breaking Results, focusing on Agentic Robotics and Real2Sim2Real!
Research is moving fast, and we want to make room for important new results as they emerge!
📅 Deadline: October 26 #CoRL2026
🔗 corl.org/contributions/call-…
Beautifully said! AI is now powerful enough that we can use it to invert Moravec's paradox because the real world can now be understood (and controlled!) by advanced reasoning. And the educational aspect of having the AI explain the solution is an awesome cherry on the cake.
Updated robotics research hypothesis:
“Robotics Foundation Model” is an oxymoron!
Beyond standard robotics, solving hard math and coding problems, mastering multi-modal video understanding, and interacting with CAD software enables powerful domain transfer to robotics.
In other words, we can break Moravec's paradox by re-formulating robotics as a reasoning problem. If these models can solve the Navier-Stokes equations, they can likely solve complex manipulation!
The exciting part is that classical robotics is making a comeback. We might not need to rely purely on end-to-end, black-box System 1 models to solve robotics, but instead on working—albeit complex—interpretable code.
The educational possibility is personal for me.
Growing up in India, access to quality education often felt gated by stressful entrance exams and limited seats at institutions like the IITs.
What excites me now is that you can prompt the very same foundation model to have the robot walk you through the math and code it used to solve a problem—as shown below.
Not just making a robot solve a problem—learning how it was solved!
Oliver Groth retweeted
Gemini 4 Argon taught a robot to play cornhole just by watching a video.
It mapped the physics, coded its own simulation, and taught @Apptronik's Apollo humanoid to sink 7 throws in a row.
Wow, agentic self-improvement for Robotics has arrived faster than expected. Awesome result from the @GoogleDeepMind Robotics team. The next few years in robot learning will be absolutely wild. 🤯
We asked #Gemini 4 Argon to explain how it figured out how to play cornhole with @Apptronik's Apollo - here it is in its own words 🤯. This is transformative for Physical AI 🦾.
Try it yourself at : lnkd.in/g9WyK_CC
Learn more: lnkd.in/gX9NeEjx
@GoogleDeepMind #Robotics
Oliver Groth retweeted
Replicated the laundry task in mujoco web, and also self-trained the RL WBC. By Opus 5.5 in 3 hrs.
Agentic real2sim is nearly solved.
Inspired by the discussion between @qiayuanliao and @wenlong_huang, @kun_h____'s explanation, and insights from Pengxiang and Junfeng. I admire @DynaRobotics' thoughtful choices and look forward to what's next.
It has been a privilege to host @brtmertalb in our first batch of interns @vesoma_ai this summer. In his work, he proposes a novel approach to learning generalist whole-body control policies for humanoids - VioLA: viola.is.tue.mpg.de/
🧵 1/4 👇
The VLA is trained on a latent space of motion primitives while concrete action prediction is delegated to independently trained, low-level decoders. This factorization also unlocks diverse data sources natively - from egocentric videos to simulation and teleoperation.
🧵 3/4
💯 Matches my experience. We live in a time where all these realities coexist. The big question for me is when the 'frontier experience' of using LLMs will diffuse into the wider economy and how it will respond. The potential to redefine all knowledge work is definitely there.
Dusting off this tweet from April because this gap in shared understanding of LLM capability is *widening*. It's now less "two groups of people speaking past each other" and more a sharp funnel.
- Napkin math somewhere around 6B people (~75% of the population) have barely come in contact with LLMs at all.
- Around 1-2B (~20%) are casual and infrequent users of free-tier ChatGPT-like products. This group sees derpy chatbots and treats them a bit like a better Google search, a writing aid, or etc. Maybe an agent tries to book you a flight. I have non-tech friends who (reasonably, imo) say they have not much use for it at all. Even many professionals outside of math&code are in this tier. For example, execs and many other functions spend a lot of their time talking to other people, so while they understand what is happening intellectually, it is still second-hand and a bit abstract.
- Now we get to professional use of frontier-grade LLMs in math&code. Somewhere around 20M people (0.2%) see first-hand that large, complex projects that used to take them weeks/months can now be completed by agents with a prompt. Building apps, copying apps, translating apps, decompiling apps from binaries... This has all happened very quickly and recently - less than 1 year ago, I was writing code manually by hand, typing memorized computer code commands into a code editor character by character, occasionally pressing Tab to autocomplete a little chunk of code.
- And finally we get to the ~5,000 people (~0.00006%) with access to frontier-grade systems internally. The external world has seen the preview. It looks like swarms of thousands of agents collaborating over weeks on software mega projects: minting zero days, running cyber attacks and defenses at machine speeds, discovering new science, advancing the frontier of mathematics. Things that would have taken top professionals in the industry years of work. Meanwhile, human review and comprehension are starting to fall behind. For example, people are still involved in the "archeology" of the OpenAI-HF incident from many months ago. Mathematicians may be poring over the 722 manuscripts on frontier mathematics for a while.
The funnel is driven by a combination of factors:
1. The impact scales with ambition, problem size, and horizon. A question with a paragraph answer barely stresses the system. You need a reservoir of big, difficult problems that you really care about. This aspect drives the consumer / professional dimension of the funnel.
2. The jaggedness of the system (which I have written about a lot separately). Capability peaks in domains that are digital, verifiable and economically valuable. This is because LLM capability emerges from reinforcement learning on verifiable rewards on a curated environment mixture driven by revenue potential. This aspect primarily drives the area (e.g. math&code) dimension of the funnel.
3. Access. Free-tier, paid-tier, internal.
So this is the weirdness of the moment. The general public has mostly not interacted with these systems. When they have, it looks like a derpy chatbot. The majority of professionals still see only a modest uplift. And a small sliver of professionals are experiencing the vertigo of the curve going vertical. And it is all happening at the same time.
Oliver Groth retweeted
A new European robotics company has just come out stealth and has built a humanoid robot in just 6 months.
@vesoma_ai is building a self-improving physical agent that learns from its own interaction with the world.
The team behind it include @nikensslen who cofounded the motion-control and functional-safety company Synapticon, as well as a former Research Director at Google DeepMind.
It was founded in December 2025 and since then it has grown to more than 60 people, fitted out over 3,500 square metres of lab and office space in Munich and Limassol, and designed, built and walked their first humanoid prototypes.
This is INSANE.
The company is taking a big bet on Europe and is building here because:
"no region has lived longer with automation at scale, or learned more about what it takes for a machine to earn its keep for decades."
They are using the industrial history of Europe to try and build the next wave of machinery right here.
This is very cool and definitely a startup worth watching.
"An AI lab that ships a humanoid."
That's the way to push the frontier of embodied intelligence. Very excited to be on board of this rocket ship. 🚀
Vesoma. Today the name is public.
Ve for versatile, soma, Greek for body. Then we noticed the same Ve opens vera (truth) and veda (knowledge). Trustworthy, intelligent, versatile embodiments. An AI lab that ships a humanoid.
Its intelligence learns from doing the work, not from watching us do it.
Learn more: vesoma.com/news/introducing-…
@vesoma_ai
Today, we are leaving stealth mode at Vesoma: vesoma.com/news/introducing-…
Our vision: We want to build and ship the most versatile and trustworthy humanoid to give AI the body it needs to give us a helping hand and unblock the bottleneck of physical labour.
🧵1/6
Move fast, break robots - and improve them
Building a walking humanoid from scratch in <6 months is evidence that we can bring together world-class AI research and manufacturing here to compete at the frontier of robotics.
xitter.cf/nikensslen/status/2099…
🧵5/6
I have watched a lot of humanoids walk over the last years. In my honest assessment, this is one of the better gaits out there - and it is still our very early stage. Congrats Martin Riedmiller & team!
We decided showing the alpha platform unblurred for the first time. Until now we covered it in every clip, because it is an internal development mule and not the product. Generation 1 is progressing well and we are relaxed about showing what came before it.
And we simply grew fond of this machine. The boxy shape is the direct result of rapid prototyping that allowed for the record design and build time. Exactly that raw frame is what makes the contrast so striking once it starts moving. A boxy machine man with a very organic character.
Generation 1 gets unveiled early 2027. If you’ve build humanoids before or shipped hardware at scale, consider joining.
Building together
We have already assembled a core team from some of the best places in the physical AI space. If you are excited about pushing the frontier of humanoid robotics together with us, please reach out. We're hiring in Munich and Limassol: vesoma.com/careers
🧵6/6


















