What Can a Decision Model Do for Robot Manipulation?
Trained only on public data, a 4B base model becomes a decision model that answers many kinds of robot-manipulation questions — and answers them fast and accurately.
Blog
Welcome. These notes are where I work through problems in the open, mostly around model evaluation, trustworthy systems, and what it takes to tell whether a model is actually right. If a result here is useful, or if you think I have it wrong, every post has a comment thread at the bottom and I read all of them. I am also glad to talk about collaborations on evaluation, judge models, or anything close to that.
On-Policy Distillation: Discussion of Loss Design
Reverse KL, sampled tokens, Top-K correction, and representation alignment: a practical and empirical guide to choosing an OPD objective.