Zhengyi "Zen" Luo

Another day, another bot at the office.

nvlabs.github.io/SONIC

Been busy bringing PHC/PULSE/Omnigrasp to IsaacLab. Here is hammer lifting

Not healthy at all 😭

PoM: Efficient Image and Video Generation with the Polynomial Mixer Diffusion models based on Multi-Head Attention (MHA) have become ubiquitous to generate high quality images and videos. However, encoding an image or a video as a sequence of patches results in costly...

🍏 New preprint alert! 🍏
PoM: Efficient Image and Video Generation with the Polynomial Mixer
arxiv.org/abs/2411.12663
This is my latest "summer project" and it was so big I had to call in reinforcements (Thanks @nicolasdufour.bsky.social)

TL;DR Transformers are for boomers, welcome to the future
🧵👇

Please do 😁

Plug: looking for full-time positions (RS and postdocs) next year!

Intro 🦋

I am a final-year PhD student from CMU Robotics. I work on humanoid control, perception, and behavior in both simulation and real life, using mostly RL:

🏃🏻PHC: zhengyiluo.com/PHC
💫PULSE: zhengyiluo.com/PULSE
🔩Omnigrasp: zhengyiluo.com/Omnigrasp
🤖OmniH2O: omni.human2humanoid.com

My workshop talk at CoRL on our work on dexterity that we've been doing for the past 5 years is here docs.google.com/presentation...

We have only started to scratch the surface of what we can do with simulations & I hope we can leverage ideas of self-play and alphazero going forward for robotics.

The RL (and some non-RL folks) starter pack is almost full. Pretty clear that the academic move here has succeeded
go.bsky.app/3WPHcHg

Hello Blue Sky