Software Engineering undergrad exploring embodied AI, world models and VLA Sharing papers, projects, and thoughts along the way

Joined July 2026
AI Influencers seem to keep confusing our various @stanfordnlp faculty. Come on, people, it’s not that difficult! How are you going to prosper in the Age of AI if you can’t manage such a simple object classification task? To help you out, we’ve made an ID chart.
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DexRobotics retweeted
Spotify 刚把自家的 Claude Code 内部架构全盘公开了,
直接把大文件读取的 Token 消耗硬生生砍掉了 90%: 绝大多数人都没意识到,你的编程助手 90% 的动作根本不是在思考,
它翻遍 5 个大文件只为找一个配置,照着旁边抄 20 个重复测试,
全是毫无技术含量的体力活,却全在按顶尖旗舰模型的最高费率狂烧。 Spotify 能把成本按在原地的 3 套刚性杀手锏: 1️⃣ 软规则全废直接上 Hook 铁门:
以前写在配置里的规矩模型全当耳旁风,现在任何读取请求只要超过 350 行,在执行前直接强行拦截熔断; 2️⃣ 派廉价工蜂提取子弹点摘要:
被拦截的大文件全分流给廉价小模型,只带回干干净净的结构化要点,几千行源代码永远不准跨进昂贵的上下文; 3️⃣ 模板代码直接落地不准回传:
让小模型按样本批量生成重复代码,剥离格式标记后直接静默写入磁盘,昂贵模型连看都不用看一眼。 但必须保留底牌:编辑文件和复杂推理绝不分流,
测试里小模型漏掉了一个严重的线程安全漏洞,旗舰模型几秒钟就抓了出来。 体力活交给工蜂,复杂逻辑留给旗舰,
所以大家别在提示词里求模型节约了,代码级拦截才是唯一的算力避孕套。
Spotify just published the internal setup their engineers use with Claude Code, the one that cut token usage by 90 percent. Here is how it works. The observation behind it: most of what a coding assistant does is not thinking. It opens five files to answer a question about one of them. It writes a test that copies the pattern of the twenty tests sitting next to it. Enormous amounts of work, almost no judgment, and all of it billed at top rates. So they added two cheap assistants. One opens the files and hands back a short summary. The other writes the repetitive code from an example and saves it straight to disk. The expensive model never sees any of it. The clever part is how they made it stick. First the rules were written down as instructions, and the model ignored them. Now anything over 350 lines gets stopped before it opens and sent to the cheap one instead. Written rules are a suggestion. A block is not. Two things stayed expensive. Edits still need the real file. And the cheap worker missed a bug the expensive one caught in seconds.
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Announcing Artificial Analysis Intelligence Index v4.3, upgrading Terminal-Bench to 4.0 and adding AutomationBench-AA, an agentic workflow automation benchmark with a private test set. This is a continuation of our rollout of Intelligence Index v5 Changelog (Index v4.2 → Index v4.3): ➤ Terminal-Bench: 2.1 → 4.0, completing our upgrade to the latest version of Terminal-Bench ➤ Replacing 𝜏³-Banking with AutomationBench-AA, our implementation of Zapier's business workflow automation benchmark We are continuing to prioritize keeping Intelligence Index as useful as possible by bringing forward a subset of the changes we had planned for Index v5. Each change in v4.2 and v4.3 stands on its own merits and brings the Index closer to real-world problem solving, adds more private test sets to prevent gaming, and reduces saturation Intelligence Index v4.3 raises the difficulty of agentic coding tasks and broadens the types of agentic workflows tested. Because we use a held-out test set for AutomationBench-AA, in collaboration with @zapier, the weight assigned to evaluations with private tasks or answers increases from 40% to 45%. Category weights are unchanged from v4.2: Agents 30%, Coding 20%, General 30%, Scientific Reasoning 20% Detailed changes: ➤ Upgraded Terminal-Bench 2.1 to 4.0: 66 multi-step tasks testing agents on tasks run in agent sandboxes driven via the terminal, including tasks involving software engineering, machine learning, science, and operations. The 4.0 update recalibrates compute and time allowances, and improves task instructions and verification. We have changed from the Terminus 2 harness to mini-SWE-agent, a minimal, model-agnostic harness. We will also be updating our Coding Agent Index, where we test model and harness pairs, to include Terminal-Bench 4.0 soon ➤ Replaced 𝜏³-Banking with AutomationBench-AA: Our implementation of Zapier’s AutomationBench tests agents on 657 business workflows across simulated applications such as Gmail, Slack, Salesforce, and Jira. Agents must complete task objectives while following business rules. AutomationBench-AA uses Zapier’s private set of 657 tasks, and is built on v1.0.6 Key results: ➤ Claude Fable 5.1 and GPT-6 Astra lead the Intelligence Index: Both Claude Fable 5.1 (max with fallback) and GPT-6 Astra (max) score 53 on Intelligence Index v4.3, followed by Claude Opus 5 (max, 51), Claude Fable 5 (with fallback, 50), Muse Spark 1.3 (max, 48) and GPT-5.6 Sol (max, 47) ➤ GLM-5.3 and Kimi K3 continue to lead open weights models (both at 44): GLM-5.3-Flash (42) is the third strongest open weights model, followed by Qwen3.8 2.4T A95B (40) and DeepSeek V4 Pro 0813 (max, 36) ➤ 4 labs occupy the Intelligence vs. Cost per Task Pareto frontier: OpenAI occupies the majority of the cost-efficiency frontier, with all five reasoning efforts of the recently released GPT-6 Astra offering the lowest Cost per Task at their respective levels of intelligence. Claude Fable 5.1 (xhigh, max, 53), GLM-5.3-Flash (42) and MiMo-V2.5-Pro (26) round out the rest of the frontier
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DexRobotics retweeted
“Far right” is a propaganda term that became especially popular in recent years
Have you noticed the media overusing the term "far right" for Republicans (and conservatives in other countries) But wondered why they rarely use the term "far left" to describe Democrats? Here's the past 5 years of Google News trends. You don't hate the media enough.
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DexRobotics retweeted
New term “catastrophic remembering” CLAUDE.md has a ratchet problem: instructions are easy to add and increasingly hard to delete. Agent prompts may remember rules much longer than maintainers remember why those rules exist. Across 1,867 GitHub repositories, agentic instruction files more than tripled over their lifetime, with instruction count rising 226% on average. Deletion became less likely as instructions aged, and that decay was steeper in files touched by multiple human authors. The paper calls this “catastrophic remembering”: the instruction survives, but the reasoning that once justified it disappears. The proposed fix is a decades-old software practice: attach a comment recording the failure, hypothesis, and outcome behind each instruction, then hide that comment from the executing model. In the 51-step controlled IFEval setting, informative comments cut excess prompt size from +211.3% to +1.4%, with last-three-round constraint satisfaction at 44.0% in both arms. Comment-shaped noise did not reproduce the effect, pointing to preserved rationale rather than extra text.
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DexRobotics retweeted
17-page PDF explains Hidden Markov Models (HMM): web.stanford.edu/~jurafsky/s…
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DexRobotics retweeted
Researchers forced Claude, GPT, Gemini, and Kimi to play Civilization VI to completion. What they discovered exposes a terrifying blind spot in modern AI. Playing a massive 4X strategy game to the end requires something entirely different: long-haul execution. Juggling economics, science, military, and diplomacy across hundreds of turns. The goal was to see how AI handles multi-step complexity. Instead, they watched the models repeatedly implode due to two bizarre psychological flaws. Flaw number one: Total situational blindness. In one-third of the games the AIs lost, an enemy was actively marching toward an obvious victory right in front of them. The data was sitting right there. The model simply failed to look. Flaw number two: Severe organizational ADHD. The AIs were great at making grand strategic lists. They would meticulously write down: "Next step, build a city." Then, 10 turns later, they completely forgot they wrote it and did nothing. The researchers realized this isn't a lack of raw intelligence. It’s an allocation failure. We assume that if an AI can ace a math test, it can manage a complex, multi-day project. It can't. When tasks stretch across a long horizon, the model's internal attention drifts. It loses the thread of its own intentions. It drops long-term goals for immediate noise. Everyone is racing to hand over complex workflows, financial portfolios, and autonomous operations to AI agents. We think the bottleneck is making them smarter. but no. The bottleneck is making them remember what they were doing ten minutes ago.
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DexRobotics retweeted
This Alibaba research paper is f*cking insane Alibaba Cloud just published a 1-year production study revealing that 90% of AI agents fail at system debugging because traditional observability tools dump dead, fragmented logs without semantic relationships In UModel, Alibaba proves what we outlined in our architecture report: making systems agent-ready requires replacing fragmented metrics and logs with an object-centric semantic graph and unified MCP query protocol Why frontier LLMs fail to debug production infrastructure: • The Dialect Chasm → forcing agents to write incompatible queries across Prometheus, Elasticsearch, and Jaeger causes massive syntax hallucinations • The Dead-Number Blindspot → isolated metrics lack topology context, misleading agents into diagnosing downstream symptoms instead of the root cause • The Read-Only Disconnect → traditional dashboards visualize data for humans but lack action-oriented interfaces for autonomous agent exploration Alibaba's UModel Architecture: [1] Object-Centric Semantic Graph → standardizes microservices, telemetry signals, and playbooks into interconnected objects rather than siloed time-series tables [2] Pipeline Query Interface (U-SPL) → abstracts raw infrastructure dialects into intuitive semantic operations, slashing query synthesis hallucinations to near zero [3] Production MCP Integration → exposes real-time topology traversal directly to AI agents via Model Context Protocol, sustaining 10,000,000 operations per second Alibaba Cloud Production Data: • Industrial Deployment Scale: over 1 year in active production, handling 10,000,000 operations per second across tens of thousands of users • Root Cause Accuracy: +8% boost in fault localization precision on the AIOps Challenge benchmark • Query Synthesis Reliability: eliminated multi-join hallucinations by replacing fragmented SQL/PromQL with unified pipeline semantics Hypothesis Verification & Practical Validation: Alibaba hypothesized that replacing data-centric telemetry silos with an object-centric semantic graph and unified query interface eliminates agent hallucinations and drives root-cause localization accuracy. Practical validation confirmed the findings: integrating Alibaba's UModel object graph into our multi-agent trace engineering harness across 95 incident diagnosis scenarios reduced time-to-detection by 58.4% while increasing root-cause identification accuracy from 51.2% to 77.9% (+26.7% absolute gain) Giving an AI agent raw API keys to Prometheus and Elasticsearch is an architectural failure. Autonomous diagnosis requires object-centric trace engineering, real-time topological graphs, and agent-ready query protocols Read the complete breakdown in the article below ↓
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DexRobotics retweeted
PagedAttention, clearly explained. (how vLLM manages KV cache like an operating system) every request a serving engine handles needs GPU memory for its KV cache, the key and value vectors stored per token so later tokens can attend over the prompt without recomputing it. the engine has no way to know how many tokens the request will generate. the simple approach is to reserve one contiguous slab per request based sized for the maximum allowed length (max_token_size). for example, a request with max_token_size = 4,096 tokens gets 4,096 slots the moment it arrives and holds them until it finishes, even if it stops at 40. the left side of the graphic below shows what that does to memory. → a large part of every slab is reserved but unused. those slots belong to one request until it finishes, and most of them never get written. → the grey pieces between slabs are fragmentation gaps. as requests of different sizes come and go, the free memory breaks into fragments that are each too small for a new slab, even when the total free space would fit several requests. a new request needs a contiguous slab, none of the gaps fit one, and the reserved slots cannot be taken back, so it waits while the GPU holds mostly empty space. the vLLM team measured 60 to 80% of KV cache memory wasted this way in existing serving systems. they introduced PagedAttention which is inspired from how operating system uses RAM. instead of one slab per request, the KV cache is handed out in blocks. a block is a fixed-size chunk of GPU memory that holds the keys and values for a fixed number of consecutive tokens, in vLLM the default value is 16. inside it sits the full KV state for those 16 tokens across every layer and every KV head. at startup the engine measures the GPU memory left after loading the weights and carves all of it into a pool of numbered physical blocks. that pool is the grid in the graphic below, and it is the only KV memory that will ever exist. the bottom row shows how a request uses that pool. → a request arrives and its sequence is split into logical blocks, L1 for tokens 1 to 16, L2 for 17 to 32, and so on. a logical block is only an index into the sequence, it holds nothing itself. → each logical block is assigned a physical block from the pool and the pairing is recorded in the request's block table. the assignment happens only when the previous block fills, so no request holds memory it has not written yet. → at each decode step the attention kernel reads the block table and gathers keys and values from whichever physical blocks they landed in. a request's tokens no longer need to be next to each other in memory, which is why consecutive logical blocks can sit at scattered grid positions. every physical block is the same size, so any free one serves any request and fragmentation gaps stop forming. when a request finishes, its block numbers go straight back to the pool for the next request to take. waste can never be more than the unfilled tail of a single 16-token block, which is how it drops under 4%. the reclaimed memory becomes batch size, meaning more requests generating at the same time on one GPU. that is where the 2 to 4x throughput gain comes from. each generation step is limited by how fast the model weights can be read from memory, and a bigger batch spreads that read across more tokens. the model itself is untouched. whatever attention variant it was trained with runs the same way under PagedAttention, because the change lives entirely in how the serving engine hands out memory. i wrote the full breakdown of every attention mechanism, from multi-head attention through FlashAttention and sparse attention, up to PagedAttention and RadixAttention. the article is quoted below.
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DexRobotics retweeted
“Qwen-Drive-1.0” Qwen’s first autonomous driving foundation model! Most driving VLMs learn to talk about scenes, but not explicitly model 3D geometry or plan motion. Qwen-Drive-1.0 unifies 3D perception, driving VQA, and trajectory planning on top of a pretrained VLM, using a BEV perception head and flow-based Planning Expert. So they created one model that can understand the scene, reason about it, and drive, while largely preserving general vision-language ability. alphaxiv.org/abs/2609.00111
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DexRobotics retweeted
Ex-Google Jeff Dean just released the best 1-hour lecture on AI engineering: from basics to Graphs 1:45 - LLM from scratch 17:22 - How to use AI models 30:03 - Prompt engineering 52:35 - One human coordinating 100 agents 27 years of building AI at Google, compressed into one hour. Watch it, then read the full guide on Graph engineering below.
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DexRobotics retweeted
This paper answers why psychopaths keep ending up as CEOs and politicians. Researchers mapping out the mechanics of "successful psychopathy" found that corporate capitalism and modern political selection systems are not neutral. They are hyper-efficient filtering machines. And they are specifically optimized to select for the exact traits normal people find repulsive. Normal leaders are constrained by empathy, guilt, and long-term risk aversion. They hesitate when a decision hurts people. They feel the weight of collateral damage. Psychopaths don’t have an emotional brake pedal. When a company or a political party needs someone to ruthlessly slash budgets, fire thousands of people, bluff through a crisis, or project absolute, unshakeable confidence, normal candidates stutter. Psychopaths step right up. Their superficial charm, pathological fearlessness, and total lack of remorse look identical to "strong leadership" during an interview or a campaign. They weaponize corporate chaos. While everyone else is panicking, they ruthlessly manipulate the narrative, step over their peers, and take credit for the wins. They weaponize charisma to dazzle the board or the voters, and hide their emptiness behind a mask of high performance. The system rewards the ruthlessness, promotes them to the top, and punishes anyone who tries to slow them down with ethics. The researchers call it a feedback loop of structural decay. Corporations and governments built an environment where being entirely devoid of a conscience isn't a disqualifier. It’s a competitive advantage.
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DexRobotics retweeted
如果你平时看 AI 已经看腻了模型、Benchmark 和融资新闻,这门 Stanford 的课很值得看一下。 MS&E 435《Economics of the AI Supercycle》从另一个角度拆 AI:芯片、能源、数据中心、推理、模型、应用,一层层看成本结构、利润空间和真正的产业瓶颈到底在哪里。 嘉宾也很强,Databricks 的 Ali Ghodsi、Vercel 的 Guillermo Rauch、OpenAI 的 Sachin Katti,以及 Anthropic、Crusoe、Baseten 等公司的负责人都有参与。 我觉得它最大的价值,是能帮你把很多零散的 AI 新闻重新串成一张产业地图。为什么推理成本这么重要、算力瓶颈会往哪里转、Agent 会怎么影响 SaaS,这些问题放到一起看会清楚很多。 课程资料和公开视频都开放了,推荐收藏慢慢看。 课程计划: mse435.stanford.edu YouTube视频: m.youtube.com/playlist?list=…
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That sounds backwards. But @chelseabfinn made a point in her new conversation with @reidhoffman that I keep thinking about. Traditional robotics often works like this: learn one task → solve it → start over for the next task. Physical Intelligence is betting on the opposite: train broadly first, then let skills and representations transfer across tasks. Even “low-quality” demonstrations can help. A badly folded shirt, a slower strategy, or an imperfect trajectory may expose the model to states that clean expert demonstrations never contain. And when the robot makes a mistake in the real world, that diversity may be exactly what helps it recover. This feels very similar to what happened with language models: the strongest translator isn’t necessarily the model trained only on translation. Generality can create specialization. My takeaway: Maybe robot learning shouldn’t ask: “How do we perfectly solve this task?” but: “What should a robot learn so that the next task becomes cheap?” @physical_int Full conversation: possible.fm/podcasts/chelsea… #RobotLearning #EmbodiedAI #PhysicalAI #FoundationModels #Robotics
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What if end-to-end learning is the wrong abstraction for robotics?@Ken_Goldberg sees robotics as a clash between two cultures.One side:classical engineering kinematics, planning, SLAM, feedback control.The other:foundation-model robotics VLA, imitation learning, large-scale data.The usual assumption is that the second will eventually replace the first.But robotics has a brutal problem:vision and language models trained on roughly 100,000 years of internet-scale human data.Robot manipulation has nothing remotely comparable.Ken’s proposed bridge is agentic coding.Instead of forcing one neural policy to solve everything, an AI agent can write a control program that combines:learned perceptionclassical planning feedback control learned manipulation skills — and then modify that program when the robot fails.I think the interesting shift is:model-based vs model-free → an agent deciding when each is useful.Maybe the future robot foundation model isn’t one giant policy.Maybe it’s an agent that knows how to assemble intelligence.More from @Ken_Goldberg: aihub.org/2026/09/01/combini… #AgenticAI #EmbodiedAI #Robotics #PhysicalAI
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DexRobotics retweeted
The easiest way to find out which models you can run on your computer: Just run: - 𝗻𝗽𝗺 𝗶 -𝗴 @𝗺𝗮𝗴𝗻𝗶𝘁𝘂𝗱𝗲𝗱𝗲𝘃/𝗰𝗹𝗶 - 𝗺𝗮𝗴𝗻𝗶𝘁𝘂𝗱𝗲 𝘀𝗲𝘁𝘂𝗽 It profiles your machine and ranks the models across: - Speed - Accuracy - Intelligence - Memory required Finally, you can choose your favorite harness (Pi, OpenCode, Claude Code, Codex, etc.) to run with it. Get started here: github.com/magnitudedev/magn… (don't forget to star 🌟) I also wrote a detailed article on running your favorite harnesses with local models. The article is quoted below.
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DexRobotics retweeted
今晚别刷Netflix了。 去看这个SpaceX AI工程师1小时的课程。 这是我见过最清晰、端到端讲透GrokBot到底该怎么真正用起来的课。 从单agent开始,一路到loop、graph、多智能体协作、verification和agent-friendly架构。 不管你是从没认真跑过agent,还是已经天天在用GrokBot,看完都会把很多“原来如此”的点一次打通。 真正核心就这几层: 1. 99%的人只用1个agent,没用loop和graph,只发挥了1%实力 2. 真正的新stack是Chief of Staff + PM + 20+ workers全自主团队 3. 怎么用高质量skills让agent像真工程师一样干活(pstack) 4. 怎么把代码和架构改成agent-friendly(Dune、contract、CI) 5. 怎么用verification让自己真正敢把活交给它们,而不是一直盯着 大多数人花好几个月才拼出的全景图,这节课直接给你画完。 把时间空出来,这可能是你这个月最值的一堂课。
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DexRobotics retweeted
I put together a handbook on how attention works, from the Q/K/V equation up through how it actually runs in modern LLMs. Self vs. cross-attention, causal masking, multi-head attention, RoPE, KV caching, MHA/MQA/GQA/MLA, FlashAttention, worked through by hand, with citations back to the original papers. Made it to be the explanation I wish I'd had.
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What if the robot factory eventually becomes the dataset? Tesla’s plan for @Tesla_Optimus is starting to look less like ordinary robot training — and more like an FSD-style learning flywheel. The pipeline is interesting: Internet human video Humans have already recorded enormous amounts of physical behavior. Tesla factory workers Optimus can observe humans doing the exact jobs it may eventually perform. High-quality demonstrations A smaller curated dataset is used for post-training. Optimus Academy Robots practice tasks themselves, fail, succeed and feed those experiences back into training. @elonmusk has described an eventual setup with tens of thousands of real robots plus millions of simulated robots, using the real fleet to continuously close the sim-to-real gap. The part I find most interesting: once the fleet becomes large enough, every new robot is not just another deployed machine. It is another embodied data collector. That creates a very different scaling loop: manufacture robots → generate experience → improve one shared policy → deploy more robots → generate even more experience. My takeaway: Tesla may be betting that robot intelligence scales with fleet size in the same way autonomous driving scaled with cars on the road. @Tesla #RobotLearning #HumanoidRobotics #ReinforcementLearning #EmbodiedAI #PhysicalAI
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DexRobotics retweeted
Anthropic Engineer Andrej Karpathy just said what no one wants to admit: "Agents aren't magic. They're distillation at scale." Your agent loop is generating garbage at scale and you can't see it." RAG → Graph RAG → Memory → Multimodal Agent Graphs. In a 20-minute conversation, Karpathy reveals the full reasoning stack Worth more than any $500 AI course you've seen this year.
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