Diffusion Policies are Fancy Lookup Tables Permalink
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Reading a diffusion policy as coverage, and using it to plan your data collection
Writing
Essays on robotics, embodied AI, and data collection. Most are co-authored with Stefanie Tellex at What to Tell the Robot.
We Got a New Nine Permalink
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Breakthrough and Bubble, Simultaneously
I Need Space Permalink
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If a robot is strong enough to help, it is strong enough to hurt.
Why Robotics is a Pre-Paradigm Field Permalink
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Towards a Grand Unified Theory of Robotics
I Got Sycophanted Permalink
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Review is critical.
How to Build Safe AI (Without Making the AI Safe) Permalink
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Lessons from aviation, manufacturing, and the 16-year-old driver
Getting a Grip on Robotic Data Collection Permalink
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How handheld devices capture force and touch data for training robot policies, and the co-designed Koala gripper built for it.
The First Hit is Free Permalink
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Using AI freely while staying in the driver’s seat.
What Babies Know That Robots Don’t Permalink
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On tokenization, biological Fourier transforms, and becoming data engineers
Consciousoids Permalink
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What if the question “Is this thing conscious?” is the wrong question to ask about large language models?
Elephants Still Don’t Play Chess Permalink
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Why information gathering actions are key to a robot’s success.
Radiate Love: a 2025 Retrospective Permalink
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Happy Groundhog Day!
Satisfying a 31-Year-Old Karaoke Dream Permalink
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I was talking to my dad about setting up karaoke for our family’s New Year’s Eve party.
Where the Curves Cross Permalink
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One of my all-time favorite papers is from Andrew Ng and Michael Jordan: “On Discriminative vs.
2025 in Review: The Year of Showing Up Permalink
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This year, I joined a band, shot principal photography for a murder mystery, and became militant about ending talks on time.
The Deer Island Marvel Permalink
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Wastewater treatment and engineering excellence
Qualitative Simulation of Swine Production Permalink
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Lessons from Matt Mason’s Undergraduate Thesis
The Grounded Turing Test Permalink
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Intelligence is multi-faceted.
From Physics to Embodied Intelligence Permalink
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How Robots Are Finally Getting Interesting
Taking a Quadruped Robot to School Permalink
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There are seven senses, not five.
What to Tell the Robot Permalink
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Robots, Space, and Time