Real life, baby

Hugging Face 旗下开源机器人公司 Pollen Robotics 开源了一台小机器人。 他们把一只只有 25cm 高、800g 重的机器鸭 Microduck 开源了，而且它的一身本事，基本都是靠强化学习练出来的。 Microduck 是一台迷你双足机器人，搭载 Rockchip RK3566，真机以 50Hz 控制频率驱动 15 个舵机。机器人 Runtime 和强化学习训练代码目前都已经开源。 ① 已经学会不少技能 Microduck 不只是会走路。它可以用游戏手柄控制双足行走；摔倒后自己重新站起来；低头捡地上的东西；完成坐下、起立、踢球、前滚翻等动作。甚至给脚底装上轮子以后，它还能切换另一套强化学习策略，实现滑行、转圈、下坡，以及在轮滑状态下自己起身。 ② 动作基本都是强化学习练出来的 Microduck 的训练项目 microduck_rl 也已经开源。 整体路线是：MuJoCo / MuJoCo Warp + PPO + Domain Randomization + Sim2Real → ONNX → 真机部署 策略以 50Hz 训练，训练完成后导出 ONNX，再交给 Microduck 真机 Runtime 直接运行。 为了缩小仿真和现实之间的差距，训练环境还专门模拟了电机摩擦、电池电压变化、控制延迟，甚至连舵机齿轮的 Backlash 齿隙都考虑进去了。 ③ 软件架构也很硬核 机器人端主要使用 Rust 编写，没有套大型 Framework，而是拆成多个独立服务： robotd：50Hz 实时控制、强化学习 Policy、安全控制 updaterd：OTA 更新、签名验证、失败自动回滚 configd：Wi-Fi 和设备身份管理 btd：蓝牙通信 padd：游戏手柄 mediad：摄像头、音频和 WebRTC tofd：ToF 深度传感器 服务之间主要通过 Unix Socket + JSON-RPC 2.0 通信。其中只有 robotd 可以真正控制电机。无论是手机、游戏手柄还是自己写的程序，发送的都只是“动作意图”，最终能不能执行，还要经过 robotd 的安全控制。 ④ 连 OTA 都做得很完整 它的软件更新流程是：下载 Release → 验证签名 → 切换版本 → 重启服务 → 健康检查 → 异常自动回滚也就是说，即使新版本把机器人搞崩了，也可以自动退回旧版本，避免直接把机器鸭刷成“砖”。 ⑤ 本质上是一台迷你具身智能开发平台 所以 Microduck 不只是一只“会走路的机器鸭”。强化学习、Sim2Real、ONNX、Rust、实时运动控制、WebRTC、OTA……这些东西全被塞进了一台只有 25cm 高、800g 重的小机器人里。对于想研究强化学习、机器人控制和具身智能的人来说，这个项目的参考价值其实挺高。 最后官方留言：“没有鸭子在这个机器人的制作过程中受到伤害，不过我们咨询了好几只鸭子。” 🦆 哈哈～

Not my usual style to post half naked photos, but what the hell... 🤣 Also 49, no AI, no photoshop, pure human labor. I encourage people to compete on health, not wealth rankings or lambos. More health, more family = true wealth, and happiness.

Hi, Tomorrow we are re-opening the Pro $200 subscriptions to new subscribers, but together with it we are also changing how we calculate the usage for it. In effect, if you do the math, it will net out at half the dollar in API spend compared to the old Pro $200 plan. Now that it's said, let me explain why this is happening and why you will still get more work done than if you were on the Pro $200 subscription one month ago. (a) We didn't want to compromise in other ways and are committing to not reintroducing the 5h limit, so that you can fully use the weekly usage when you want. (b) On the subscription, we guarantee that over time you always get more work done and with an increasing level of quality. This means that you will continue to get more value per dollar spent as a result of models getting more efficient and us passing down the improvements in the form of API price reductions. (c) We don't want to put an incentive on ourselves to artificially inflate the API list prices to make it look like you are getting a lot (and workaround it through discounts, etc). Instead we want to continue to both rapidly reduce prices and increase capabilities of models on the API. This week we introduced GPT-6 Sol and GPT-6 Luna at 50% of their previous price. Over time, we see prices go low enough that it makes sense for most to buy usage as needed without there being a significant gap between what you get in a subscription and what you get in the API for a dollar spent. (d) Tomorrow, we are adding more things to the subscription that won't draw on the usage, I won't reveal what that is yet. I wanted to be transparent before all the big announcements tomorrow. Lots of new exciting things are coming to the subscriptions that will make it super compelling, but I wanted to make sure to share this change ahead of time so you can all understand it before we shower you with good news. Codexingly, Tibo

We are aware that codex is down and are working hard to bring back normal service.

Been a bit quiet here because internal Slack has been hilarious lately and because we are all locked in on DevDay. Tuesday will be fun.

tibo 最近不敢说啥话了好像，消停点了。被claude 压死了。 claude 发布更强的模型，他发更差的模型

GPT-6 Sol and Luna are out. Not only are they a very significant improvement across the board, but also in writing and general "you know when you try it" quality. We are also permanently reducing the API price by 50% making both of them viable for a ton of new usecases and making your usage go further too, even on the subscriptions. And one more thing. We are loading a banked reset into all accounts of our Plus, Pro and Business users. Let's go! openai.com/index/introducing…

蹬完了，完善 Topic Desk Studio 功能挺多的，BUG也不少 但是 Vibe Coding 会上瘾