Haixuan Xavier Tao (@HaixuanT) / X

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dora-rs/dora surpassed ros/ros in Github Star! ros/ros has been the open source standard for robotics for the last 14 years. Making dora an alternative to ros has been the hardest thing, I've ever done. I'm very grateful for all the people that shared this journey: My

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First week of dora + aloha Can do Teleop + Replay with dora-rs github.com/dora-rs/dora We achieve 2ms latency between arms using rustypot github.com/pollen-robotic… Arms: trossenrobotics.com/aloha-kits Thanks Huggingface + Trossen + Pollen for the help 😋

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How I train pollen robotics reachy robot to do a high five 🙏 - Record data with pollen robotics script: github.com/pollen-robotic… - Train the model with🤗 lerobot: github.com/huggingface/le… - Evaluate with dora-rs and dora-lerobot: github.com/dora-rs/dora and

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Week 2 of dora x aloha x 🤗 lerobot Building 🤗 lerobot dataset 🤖 for training aloha 🦾 with dora-rs Lego is one of the first building blocks for kids. So, might be a good start for robot, what do you think ? Links: github.com/dora-rs/dora-a… Lerobot: #ai #robot #lego

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Replying to @Thom_Wolf and @LeoTronchon

Feel free to check the code: gist.github.com/haixuanTao/860… 😋

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Week 3 - dora - lerobot Onboarding the team on the aloha arms 🦾 Making good progress 😊 github.com/dora-rs/dora github.com/huggingface/le… #ai #fun

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Replying to @HaixuanT

Source code of the demo:

GitHub - dora-rs/dora-lerobot: Lerobot boosted with dora

Replying to @vasudevanubrolu @Thom_Wolf and @LeoTronchon

we're using dora-rs for streaming microphone data into whisper using shared memory, that let's you run multiple python in parallel. We used a fixed duration and we use a key to start the recording. We could use a more intelligent start of the recording.

Replying to @combin8or @RemiCadene and 3 others

So the robot is able to turn 360 degrees with 3 wheels has 7 DoFs of freedom on each arms as well as a parallel orbita joint head. Bro, let’s not talk about turning 😜

Replying to @plastic_gear

Yeah 😅 I do that by using a single process all written in rust that directly communicates with serial ports. Cross platform as well btw

Replying to @zahi_kakish and @RemiCadene

We have some benchmark script within github.com/dora-rs/dora-a… that you can use to compare. We have noticed that on data collection ROS2 was~10ms of latency were we are at ~2ms , due to serialization on 3 different process. We only have one process, without any serialization

GitHub - dora-rs/dora-lerobot: Lerobot boosted with dora

Replying to @HaixuanT and @blackanger

Should be open now ☺️

Replying to @Markos182536 @ax_pey and 2 others

So, following the official doc of robotis xm series. Serial port is the way to go. Other protocol is probably possible

Replying to @RemiCadene and @huggingface

Congratulation @RemiCadene and team! I know how much work it took and It’s been so inspiring! Im extremely grateful to have been a small part of this journey with you team. And, I am so excited for what’s coming!

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