ahad (@ahadj0) | Vanlett

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ahad

@ahadj0

Jun 29

what if we treated robot actions like audio waveforms? introducing neural action codec (NAC) a method for creating a compressed action vocabulary to train VLA policies

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ahad

@ahadj0

Jul 4

wild, elon liked the post

ahad

@ahadj0

Jul 3

i joined @SpaceX ! we need self replicating autonomous robots to make us a multi-planetary civilization

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ahad

@ahadj0

Jul 3

i joined @SpaceX ! we need self replicating autonomous robots to make us a multi-planetary civilization

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ahad

@ahadj0

26 Jun 2025

we will need robots building robots if we are going to have a space civilization. this is true even with agi or asi

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ahad

@ahadj0

Jul 1

introducing hierarchical implicit q-chunking (HIQC) long-horizon offline reinforcement learning is hard the more steps an agent takes, the more value estimation errors compound i reduce this by decomposing the horizon into smaller segments with subgoals and action chunks

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ahad

@ahadj0

Jul 1

this simple idea leads to an increase of nearly 10% average compared on 9 long horizon simulation task

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ahad

@ahadj0

Jul 1

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ahad

@ahadj0

Jul 1

i found by simply using a high level policy predicting latent subgoal and a low level policy prediciting action chunks you can reduce the number of bootstrapped value estimates to O((T/k)^(1/2))

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ahad

@ahadj0

Jul 1

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ahad

@ahadj0

Jul 1

i’d like to thank @seohong_park for open sourcing his work as this work was heavily based on those prior works project: ahadjawaid.com/hiqc paper: ahadjawaid.com/hiqc/59_Offli…

Offline RL with Hierarchical Action Chunking (HiQC)

HiQC (Hierarchical Implicit Q-Chunking) learns goal-conditioned policies from offline data: a high-level latent planner plus k-step action chunks and chunk-conditioned critics for deeper unbiased...

ahadjawaid.com

467

ahad reposted

Yu Xiang

@YuXiang_IRVL

Jun 29

Check out Ahad's work on leveraging neural audio codec architectures for VLA action tokenization. An interesting direction that adapts ideas from audio compression to represent continuous robot actions.👇

ahad

@ahadj0

Jun 29

what if we treated robot actions like audio waveforms? introducing neural action codec (NAC) a method for creating a compressed action vocabulary to train VLA policies

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9,638

ahad

@ahadj0

Jun 29

what if we treated robot actions like audio waveforms? introducing neural action codec (NAC) a method for creating a compressed action vocabulary to train VLA policies

0:06

368

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ahad

@ahadj0

Jun 29

here is a policy comparison to a few other methods

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ahad

@ahadj0

Jun 29

i will like to thank the authors of the OAT paper as our codebase was developed on top of theirs @liu730chaoqi and my co author @YuXiang_IRVL for making this work possible paper: arxiv.org/abs/2606.21372 code: github.com/ahadjawaid/nac project page: ahadjawaid.com/nac

NAC: Neural Action Codec for Vision-Language-Action Models

Vision-language-action (VLA) models rely on discrete action tokenizers to bridge continuous robot control and autoregressive sequence modeling, yet existing tokenizers often trade off between...

arxiv.org

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ahad

@ahadj0

Jun 12

the first replication!

Ed Henderson

@ed0henderson

Jun 12

The speed from idea > physical thing has never been so fast. Two things Asher (uni student) has been helping us out on: > CAD modelling to 3D prints for mock setup of potential customers task e.g. this tea light wax candle mould built in the kitchen of our campsite. > Swappable heads prototype on our SO-101 arm. #robotics #physicalAI #robot #CAD

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ahad

@ahadj0

Jun 8

introducing lattice a low-cost robot arm with a modular, detachable gripper so the robot can swap its own tools the adapter is $14 if you already have an so101 arm, and about $140 to build the full system from scratch it’s now fully open source

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ahad

@ahadj0

Jun 8

also want to acknowledge @jeluna20 as a core contributor on this project, and the open source repos it’s built on: @lerobothf @uma_robots @vectorwang2

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ahad

@ahadj0

Jun 8

repo: github.com/ahadjawaid/lattic…

GitHub - ahadjawaid/lattice

Contribute to ahadjawaid/lattice development by creating an account on GitHub.

github.com

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