Vizuara Books
Modern Robot Learning
Teach a real robot arm to act by imitation.
Build modern robot learning from the ground up: VAEs, conditional VAEs, transformers, and the ACT (Action Chunking with Transformers) policy. Then train it on a real low-cost SO-101 arm with LeRobot and Hugging Face, and touch policy-gradient RL in simulation.
Read on your Kindle
We'll send this whole book straight to your Kindle — it opens natively, so you can resize the text, read fully offline, and it remembers where you left off. Nothing to download or manage.
Sending to Kindle is for subscribers — subscribe to read the whole library on your Kindle.
00Foundations of Robot Learning7 capsules
Foundations of Robot Learning — 7 chapters.
01Why Modern Robot Learning?intuitionfree13 min02Classical Robotics and the Equations of Motionmath🔒13 min03Where Classical Robotics Breaks Downconcept🔒13 min04Reinforcement Learning for Robotsconcept🔒13 min05Why RL Is Hard in the Real Worlddeep-dive🔒12 min06Imitation Learning as an Alternativeintuition🔒13 min07Multimodal Data, VLMs, and VLAsconcept🔒13 min01Deep Generative Modeling6 capsules
Deep Generative Modeling — 6 chapters.
08Why Generative Models for Roboticsintuition🔒11 min09The VAE: Encoder, Decoder, and the Bottleneckconcept🔒13 min10The Latent Space: Mean and Variancemath🔒14 min11Sampling and the Reparameterization Trickmath🔒12 min12The ELBO: Reconstruction Loss Meets KL Divergencemath🔒13 min13Building a VAE from Scratchcode🔒14 min02Conditional VAEs3 capsules
Conditional VAEs — 3 chapters.
14From VAE to Conditional VAEconcept🔒14 min15The Math of Conditioningmath🔒15 min16Why CVAEs Matter for Robot Policiesintuition🔒14 min03Transformer Architecture from Scratch6 capsules
Transformer Architecture from Scratch — 6 chapters.
17Attention Is All You Need: A Recapconcept🔒14 min18Self-Attention: Queries, Keys, and Valuesmath🔒13 min19The Encoder-Decoder Frameworkconcept🔒14 min20Vision Transformers: Images as Tokensconcept🔒13 min21Fusing VAEs with Transformers for Roboticsdeep-dive🔒14 min22The Transformer in Codecode🔒13 min04The ACT Policy8 capsules
The ACT Policy — 8 chapters.
23Introduction to the ACT Policyconcept🔒12 min24Hardware Innovations Behind ACTconcept🔒12 min25Software Innovations Behind ACTconcept🔒13 min26The Conditional VAE Inside ACTdeep-dive🔒14 min27The ACT Encoderdeep-dive🔒14 min28Action Chunking Explainedintuition🔒14 min29The ACT Decoder and Temporal Ensemblingdeep-dive🔒13 min30ACT Implementation: Q&A and Gotchasdeep-dive🔒14 min05Training on Real Robots8 capsules
Training on Real Robots — 8 chapters.
31Meet the SO-101 Robotproject🔒11 min32Collecting Demonstrationsproject🔒13 min33Training an ACT Policy from Scratchproject🔒12 min34Running Inference on the Armproject🔒13 min35Debugging Real-World Deploymentdeep-dive🔒11 min36SO-101 Demo Dayproject🔒11 min37Evaluating Beyond Success Ratedeep-dive🔒13 min38Putting It All Togetherintuition🔒12 min06Simulation and Policy Gradients4 capsules
Simulation and Policy Gradients — 4 chapters.
39Why Simulate? The ManiSkill Environmentconcept🔒12 min40The Policy Gradient Theoremmath🔒12 min41Proximal Policy Optimization (PPO)math🔒12 min42Implementing PPO in PyTorchcode🔒13 minRatings & reviews
No ratings yet. Yours would be the first.