https://ethanyeang.me/2026-11-04monthly1.0https://ethanyeang.me/projects/2026-11-04weekly0.8https://ethanyeang.me/about/2026-11-04monthly0.8https://ethanyeang.me/field-notes/2026-11-04monthly0.8https://ethanyeang.me/lab/2026-11-04weekly0.8https://ethanyeang.me/contact/2026-11-04monthly0.8https://ethanyeang.me/voice-lab/2026-11-04monthly0.8https://ethanyeang.me/projects/b601-lingbot-vla2/https://ethanyeang.me/assets/images/lekiwi-bubble.webpLeKiwi × LingBot-VLA v2 · 打泡泡把示范采集、模型推理和机械臂执行连起来。在 B601 上观察抓取、搬运与叠放的真实过程。https://ethanyeang.me/assets/video/lekiwi-bubble.mp4yeshttps://ethanyeang.me/assets/images/b601-wrist-camera-mount.webpB601 · 腕部摄像机支架原型把示范采集、模型推理和机械臂执行连起来。在 B601 上观察抓取、搬运与叠放的真实过程。https://ethanyeang.me/assets/video/b601-wrist-camera-mount.mp4yeshttps://ethanyeang.me/assets/images/b601-data-collection.webpB601 · 数据采集现场把示范采集、模型推理和机械臂执行连起来。在 B601 上观察抓取、搬运与叠放的真实过程。https://ethanyeang.me/assets/video/b601-data-collection.mp4yeshttps://ethanyeang.me/assets/images/b601-overview.webp项目总览 · 剪辑版 + 连续运行把示范采集、模型推理和机械臂执行连起来。在 B601 上观察抓取、搬运与叠放的真实过程。https://ethanyeang.me/assets/video/b601-overview.mp4yeshttps://ethanyeang.me/assets/images/b601-data-collection.webpB601 · 完整连续数据采集把示范采集、模型推理和机械臂执行连起来。在 B601 上观察抓取、搬运与叠放的真实过程。https://ethanyeang.me/assets/video/b601-data-collection-full.mp4yeshttps://ethanyeang.me/assets/images/b601-demo-cover.webpB601 × LingBot-VLA v2把示范采集、模型推理和机械臂执行连起来。在 B601 上观察抓取、搬运与叠放的真实过程。https://ethanyeang.me/assets/video/b601-demo.mp4yes2026-11-04monthly0.8https://ethanyeang.me/projects/t800-backflip-sim/https://ethanyeang.me/assets/images/t800-policy-vs-ref.webp策略 vs 参考 · T800 走行把公开数据集里 G1 的后空翻迁移到 T800 人形机器人上：按 1.227 倍腿长比例重定向、逐帧 IK 修正关节角，再用 MuJoCo 运动学回放渲染 50 fps 成片。RL 自主翻墙那条线训练失败。https://ethanyeang.me/assets/video/t800-policy-vs-ref.mp4yeshttps://ethanyeang.me/assets/images/t800-sim-standup.webp仿真 · 站起来（正面 / 背面）把公开数据集里 G1 的后空翻迁移到 T800 人形机器人上：按 1.227 倍腿长比例重定向、逐帧 IK 修正关节角，再用 MuJoCo 运动学回放渲染 50 fps 成片。RL 自主翻墙那条线训练失败。https://ethanyeang.me/assets/video/t800-sim-standup.mp4yeshttps://ethanyeang.me/assets/images/t800-uphill.webp真机 · 走上斜坡把公开数据集里 G1 的后空翻迁移到 T800 人形机器人上：按 1.227 倍腿长比例重定向、逐帧 IK 修正关节角，再用 MuJoCo 运动学回放渲染 50 fps 成片。RL 自主翻墙那条线训练失败。https://ethanyeang.me/assets/video/t800-uphill-real.mp4yeshttps://ethanyeang.me/assets/images/t800/flip360-poster.webpT800 / 后空翻动作重定向把公开数据集里 G1 的后空翻迁移到 T800 人形机器人上：按 1.227 倍腿长比例重定向、逐帧 IK 修正关节角，再用 MuJoCo 运动学回放渲染 50 fps 成片。RL 自主翻墙那条线训练失败。https://ethanyeang.me/assets/video/t800/flip360.mp4yes2026-11-04monthly0.8https://ethanyeang.me/projects/microduck-jump-rl/https://ethanyeang.me/assets/images/microduck-parallel-envs.webp并行环境 · 8 秒从下蹲到起跳：用奖励设计，让小型双足机器人在仿真中学习连续弹跳。https://ethanyeang.me/assets/video/microduck-parallel-envs.mp4yeshttps://ethanyeang.me/assets/images/microduck-rl-walk.webp在 Thor 上训练的 119 秒记录从下蹲到起跳：用奖励设计，让小型双足机器人在仿真中学习连续弹跳。https://ethanyeang.me/assets/video/microduck-rl-walk.mp4yeshttps://ethanyeang.me/assets/images/microduck.webpMicroDuck / 牛来从下蹲到起跳：用奖励设计，让小型双足机器人在仿真中学习连续弹跳。https://ethanyeang.me/assets/video/microduck.mp4yes2026-11-04monthly0.8https://ethanyeang.me/projects/q1-console/https://ethanyeang.me/assets/images/q1-console-control.webp运动控制 · 安全锁与姿态把机器人双目相机、遥测、语音与运动控制，放进一个能直接操作的浏览器界面；人在深圳，操控在上海的启元 Q1 人形机器人。https://ethanyeang.me/assets/video/q1/q1-console-control.mp4yeshttps://ethanyeang.me/assets/images/q1-console-camera.webp双目相机 · 实时画面把机器人双目相机、遥测、语音与运动控制，放进一个能直接操作的浏览器界面；人在深圳，操控在上海的启元 Q1 人形机器人。https://ethanyeang.me/assets/video/q1/q1-console-camera.mp4yeshttps://ethanyeang.me/assets/images/q1-console-overview.webpQ1 / Robot Console把机器人双目相机、遥测、语音与运动控制，放进一个能直接操作的浏览器界面；人在深圳，操控在上海的启元 Q1 人形机器人。https://ethanyeang.me/assets/video/q1/q1-console-overview.mp4yes2026-11-04monthly0.8https://ethanyeang.me/projects/botversex/https://ethanyeang.me/assets/images/botversex-workbench.webpBotverseXBotverseX 是我正在打造的具身智能工作台：连接、遥操作、录制、训练和部署回到同一条机器人开发工作流。https://ethanyeang.me/assets/video/botversex-site-loop.mp4yes2026-11-04monthly0.8https://ethanyeang.me/projects/world-model-playground/https://ethanyeang.me/assets/images/world-model.webpWorld Model Playground从创客空间的影像出发，探索重建、相机视角和可浏览的三维现场。https://ethanyeang.me/assets/video/world-model.mp4yes2026-11-04monthly0.8https://ethanyeang.me/projects/r36s-space/https://ethanyeang.me/assets/images/r36s-3d-grip.webpR36S · 3D 打印握把运营 r36s.space 独立站，写主板、系统、SD 卡和存档问题的实测指南。https://ethanyeang.me/assets/video/r36s-3d-grip.mp4yeshttps://ethanyeang.me/assets/images/r36s-shoulder-buttons.webpR36S · 肩键改装运营 r36s.space 独立站，写主板、系统、SD 卡和存档问题的实测指南。https://ethanyeang.me/assets/video/r36s-shoulder-buttons.mp4yes2026-11-04monthly0.8https://ethanyeang.me/projects/handheld-tinkering/https://ethanyeang.me/assets/images/handheld-rg353v-zaomeng-video.webpRG353V · 《造梦西游》按键映射从 R36S 到 RG353V：换系统、改分区、装外设、3D 打印握把，把两台掌机折腾成顺手的小 Linux 机器。https://ethanyeang.me/assets/video/handheld-rg353v-zaomeng.mp4yeshttps://ethanyeang.me/assets/images/handheld-rg353v-tvcast.webpRG353V · 接电视当客厅主机从 R36S 到 RG353V：换系统、改分区、装外设、3D 打印握把，把两台掌机折腾成顺手的小 Linux 机器。https://ethanyeang.me/assets/video/handheld-rg353v-tvcast.mp4yes2026-11-04monthly0.8https://ethanyeang.me/projects/classic-phones/https://ethanyeang.me/assets/images/nokia-e63-starwars.webpE63 · 睡前一部电影诺基亚 E63 和 E72i 重新回到日常：用来看电视、听歌、接蓝牙耳机——十几年前的机器今天依然好用。https://ethanyeang.me/assets/video/nokia-e63-starwars.mp4yeshttps://ethanyeang.me/assets/images/nokia-e72i-music.webpE72i · 陈奕迅《落花流水》诺基亚 E63 和 E72i 重新回到日常：用来看电视、听歌、接蓝牙耳机——十几年前的机器今天依然好用。https://ethanyeang.me/assets/video/nokia-e72i-music.mp4yes2026-11-04monthly0.8https://ethanyeang.me/projects/flight-simulator/2026-11-04monthly0.8https://ethanyeang.me/projects/jarvis-reachy-mini/https://ethanyeang.me/assets/images/jarvis-console.webpJARVIS / Reachy Mini把本地 JARVIS 助手、XTTS 语音合成和 Reachy Mini 的相机与动作控制接到一起。https://ethanyeang.me/assets/video/jarvis-reachy.mp4yes2026-11-04monthly0.8https://ethanyeang.me/projects/strata-qwen38-local/2026-11-04monthly0.8https://ethanyeang.me/projects/pi5-local-llm/https://ethanyeang.me/assets/images/pi5-cut-poster.webp剪辑版实录 · 66 秒树莓派 5（Ubuntu）插上 LLM-8850 M.2 加速卡，本地跑 Qwen2.5-0.5B 的 AXERA 量化版：同一提示三次实测 18.15–18.42 tok/s，模型自报「created by Anthropic」。https://ethanyeang.me/assets/video/pi5-local-llm-cut.mp4yes2026-11-04monthly0.8https://ethanyeang.me/projects/agibot-platform-notes/https://ethanyeang.me/assets/images/lingxi-x2-scenes.webp灵犀 X2 · 仿真实训场景 · 4 分 09 秒给 AGIBOT G2 写的本地控制台：桌面端是 3D 骨架加关节面板，头显端把 5 路相机钉在空间里，手柄直接带手臂。https://ethanyeang.me/assets/video/lingxi-x2-scenes.mp4yeshttps://ethanyeang.me/assets/images/lingxi-x2.webp灵犀 X2 · 现场动作给 AGIBOT G2 写的本地控制台：桌面端是 3D 骨架加关节面板，头显端把 5 路相机钉在空间里，手柄直接带手臂。https://ethanyeang.me/assets/video/lingxi-x2.mp4yeshttps://ethanyeang.me/assets/images/g2-console-xr-poster.webp控制台实录 · 头显页面与关节面板给 AGIBOT G2 写的本地控制台：桌面端是 3D 骨架加关节面板，头显端把 5 路相机钉在空间里，手柄直接带手臂。https://ethanyeang.me/assets/video/g2-console-xr.mp4yeshttps://ethanyeang.me/assets/images/agibot-g2.webpAGIBOT G2 / 灵犀 X2给 AGIBOT G2 写的本地控制台：桌面端是 3D 骨架加关节面板，头显端把 5 路相机钉在空间里，手柄直接带手臂。https://ethanyeang.me/assets/video/agibot-g2.mp4yes2026-11-04monthly0.8https://ethanyeang.me/projects/uno-q-matrix-console/https://ethanyeang.me/assets/images/arduino-uno-q.webpArduino UNO Q 灯阵逆向把 Arduino UNO Q 的灯阵控制做成可观察、可操作的交互实验。https://ethanyeang.me/assets/video/arduino-uno-q.mp4yes2026-11-04monthly0.8https://ethanyeang.me/projects/pipesay/2026-11-04monthly0.8https://ethanyeang.me/en/2026-11-04monthly1.0https://ethanyeang.me/en/projects/2026-11-04weekly0.8https://ethanyeang.me/en/about/2026-11-04monthly0.8https://ethanyeang.me/en/field-notes/2026-11-04monthly0.8https://ethanyeang.me/en/lab/2026-11-04weekly0.8https://ethanyeang.me/en/contact/2026-11-04monthly0.8https://ethanyeang.me/en/voice-lab/2026-11-04monthly0.8https://ethanyeang.me/en/projects/b601-lingbot-vla2/https://ethanyeang.me/assets/images/lekiwi-bubble.webpLeKiwi × LingBot-VLA v2 · bubblesBringing teleoperation demos, VLA inference and real dual arm manipulation together on the B601.https://ethanyeang.me/assets/video/lekiwi-bubble.mp4yeshttps://ethanyeang.me/assets/images/b601-wrist-camera-mount.webpB601 · Wrist camera mount prototypeBringing teleoperation demos, VLA inference and real dual arm manipulation together on the B601.https://ethanyeang.me/assets/video/b601-wrist-camera-mount.mp4yeshttps://ethanyeang.me/assets/images/b601-data-collection.webpB601 · Real-world data collectionBringing teleoperation demos, VLA inference and real dual arm manipulation together on the B601.https://ethanyeang.me/assets/video/b601-data-collection.mp4yeshttps://ethanyeang.me/assets/images/b601-overview.webpProject overview · cut and continuous runsBringing teleoperation demos, VLA inference and real dual arm manipulation together on the B601.https://ethanyeang.me/assets/video/b601-overview.mp4yeshttps://ethanyeang.me/assets/images/b601-data-collection.webpB601 · One unbroken collection runBringing teleoperation demos, VLA inference and real dual arm manipulation together on the B601.https://ethanyeang.me/assets/video/b601-data-collection-full.mp4yeshttps://ethanyeang.me/assets/images/b601-demo-cover.webpB601 × LingBot-VLA v2Bringing teleoperation demos, VLA inference and real dual arm manipulation together on the B601.https://ethanyeang.me/assets/video/b601-demo.mp4yes2026-11-04monthly0.65https://ethanyeang.me/en/projects/t800-backflip-sim/https://ethanyeang.me/assets/images/t800-policy-vs-ref.webpPolicy vs reference · T800 walkingMoving G1 backflips from an open motion dataset onto the T800 humanoid: 1.227× leg-length retargeting, per-frame IK correction, and MuJoCo kinematic replay rendered at 50 fps. The RL branch failed to produce a policy.https://ethanyeang.me/assets/video/t800-policy-vs-ref.mp4yeshttps://ethanyeang.me/assets/images/t800-sim-standup.webpSimulation · standing up, front then backMoving G1 backflips from an open motion dataset onto the T800 humanoid: 1.227× leg-length retargeting, per-frame IK correction, and MuJoCo kinematic replay rendered at 50 fps. The RL branch failed to produce a policy.https://ethanyeang.me/assets/video/t800-sim-standup.mp4yeshttps://ethanyeang.me/assets/images/t800-uphill.webpReal machine · up the rampMoving G1 backflips from an open motion dataset onto the T800 humanoid: 1.227× leg-length retargeting, per-frame IK correction, and MuJoCo kinematic replay rendered at 50 fps. The RL branch failed to produce a policy.https://ethanyeang.me/assets/video/t800-uphill-real.mp4yeshttps://ethanyeang.me/assets/images/t800/flip360-poster.webpT800 / Backflip RetargetingMoving G1 backflips from an open motion dataset onto the T800 humanoid: 1.227× leg-length retargeting, per-frame IK correction, and MuJoCo kinematic replay rendered at 50 fps. The RL branch failed to produce a policy.https://ethanyeang.me/assets/video/t800/flip360.mp4yes2026-11-04monthly0.65https://ethanyeang.me/en/projects/microduck-jump-rl/https://ethanyeang.me/assets/images/microduck-parallel-envs.webpParallel environments · 8 secondsFrom crouching to hopping: designing rewards that teach a small biped to jump in simulation.https://ethanyeang.me/assets/video/microduck-parallel-envs.mp4yeshttps://ethanyeang.me/assets/images/microduck-rl-walk.webp119 seconds of training on ThorFrom crouching to hopping: designing rewards that teach a small biped to jump in simulation.https://ethanyeang.me/assets/video/microduck-rl-walk.mp4yeshttps://ethanyeang.me/assets/images/microduck.webpMicroDuck / 牛来From crouching to hopping: designing rewards that teach a small biped to jump in simulation.https://ethanyeang.me/assets/video/microduck.mp4yes2026-11-04monthly0.65https://ethanyeang.me/en/projects/q1-console/https://ethanyeang.me/assets/images/q1-console-control.webpMotion control · safety unlockThe robot's stereo camera, telemetry, voice and motion control in one browser console — operating a Yuan Q1 humanoid in Shanghai from Shenzhen.https://ethanyeang.me/assets/video/q1/q1-console-control.mp4yeshttps://ethanyeang.me/assets/images/q1-console-camera.webpStereo camera · live viewThe robot's stereo camera, telemetry, voice and motion control in one browser console — operating a Yuan Q1 humanoid in Shanghai from Shenzhen.https://ethanyeang.me/assets/video/q1/q1-console-camera.mp4yeshttps://ethanyeang.me/assets/images/q1-console-overview.webpQ1 / Robot ConsoleThe robot's stereo camera, telemetry, voice and motion control in one browser console — operating a Yuan Q1 humanoid in Shanghai from Shenzhen.https://ethanyeang.me/assets/video/q1/q1-console-overview.mp4yes2026-11-04monthly0.65https://ethanyeang.me/en/projects/botversex/https://ethanyeang.me/assets/images/botversex-workbench.webpBotverseXBotverseX is my embodied AI workbench, connecting robots, teleoperation, data recording, training and deployment.https://ethanyeang.me/assets/video/botversex-site-loop.mp4yes2026-11-04monthly0.65https://ethanyeang.me/en/projects/world-model-playground/https://ethanyeang.me/assets/images/world-model.webpWorld Model PlaygroundReconstructing a makerspace scene and exploring camera views and browsable 3D environments.https://ethanyeang.me/assets/video/world-model.mp4yes2026-11-04monthly0.65https://ethanyeang.me/en/projects/r36s-space/https://ethanyeang.me/assets/images/r36s-3d-grip.webpR36S · 3D-printed grip prototypeAn independent R36S handheld shop and technical journal covering board identification, setup, SD cards and save files.https://ethanyeang.me/assets/video/r36s-3d-grip.mp4yeshttps://ethanyeang.me/assets/images/r36s-shoulder-buttons.webpR36S · Shoulder button modificationAn independent R36S handheld shop and technical journal covering board identification, setup, SD cards and save files.https://ethanyeang.me/assets/video/r36s-shoulder-buttons.mp4yes2026-11-04monthly0.65https://ethanyeang.me/en/projects/handheld-tinkering/https://ethanyeang.me/assets/images/handheld-rg353v-zaomeng-video.webpRG353V · 造梦西游 button mappingTwo handhelds, four Linux builds and a 3D-printed grip: taking the R36S and RG353V apart until they feel like machines worth holding.https://ethanyeang.me/assets/video/handheld-rg353v-zaomeng.mp4yeshttps://ethanyeang.me/assets/images/handheld-rg353v-tvcast.webpRG353V · Cast to the living-room TVTwo handhelds, four Linux builds and a 3D-printed grip: taking the R36S and RG353V apart until they feel like machines worth holding.https://ethanyeang.me/assets/video/handheld-rg353v-tvcast.mp4yes2026-11-04monthly0.65https://ethanyeang.me/en/projects/classic-phones/https://ethanyeang.me/assets/images/nokia-e63-starwars.webpE63 · A film before sleepA Nokia E63 and E72i back in daily use for TV, music and Bluetooth earphones — hardware from a decade ago that still does the job.https://ethanyeang.me/assets/video/nokia-e63-starwars.mp4yeshttps://ethanyeang.me/assets/images/nokia-e72i-music.webpE72i · Eason Chan, 落花流水A Nokia E63 and E72i back in daily use for TV, music and Bluetooth earphones — hardware from a decade ago that still does the job.https://ethanyeang.me/assets/video/nokia-e72i-music.mp4yes2026-11-04monthly0.65https://ethanyeang.me/en/projects/flight-simulator/2026-11-04monthly0.65https://ethanyeang.me/en/projects/jarvis-reachy-mini/https://ethanyeang.me/assets/images/jarvis-console.webpJARVIS / Reachy MiniA local JARVIS assistant bringing XTTS speech synthesis and Reachy Mini camera and motion controls together.https://ethanyeang.me/assets/video/jarvis-reachy.mp4yes2026-11-04monthly0.65https://ethanyeang.me/en/projects/strata-qwen38-local/2026-11-04monthly0.65https://ethanyeang.me/en/projects/pi5-local-llm/https://ethanyeang.me/assets/images/pi5-cut-poster.webpCut · 66 secondsA Raspberry Pi 5 on Ubuntu with an LLM-8850 M.2 accelerator running AXERA's quantized Qwen2.5-0.5B: 18.15–18.42 tok/s across three runs of one prompt, and a model that introduced itself as created by Anthropic.https://ethanyeang.me/assets/video/pi5-local-llm-cut.mp4yes2026-11-04monthly0.65https://ethanyeang.me/en/projects/agibot-platform-notes/https://ethanyeang.me/assets/images/lingxi-x2-scenes.webpLingxi X2 · simulation scenes · 4:09A local console for AGIBOT G2: a 3D skeleton and joint panel in the browser, and a headset view that pins five camera feeds in space with controller-driven arms.https://ethanyeang.me/assets/video/lingxi-x2-scenes.mp4yeshttps://ethanyeang.me/assets/images/lingxi-x2.webpLingxi X2 · Field motionA local console for AGIBOT G2: a 3D skeleton and joint panel in the browser, and a headset view that pins five camera feeds in space with controller-driven arms.https://ethanyeang.me/assets/video/lingxi-x2.mp4yeshttps://ethanyeang.me/assets/images/g2-console-xr-poster.webpConsole run · headset page and joint panelA local console for AGIBOT G2: a 3D skeleton and joint panel in the browser, and a headset view that pins five camera feeds in space with controller-driven arms.https://ethanyeang.me/assets/video/g2-console-xr.mp4yeshttps://ethanyeang.me/assets/images/agibot-g2.webpAGIBOT G2 / Lingxi X2A local console for AGIBOT G2: a 3D skeleton and joint panel in the browser, and a headset view that pins five camera feeds in space with controller-driven arms.https://ethanyeang.me/assets/video/agibot-g2.mp4yes2026-11-04monthly0.65https://ethanyeang.me/en/projects/uno-q-matrix-console/https://ethanyeang.me/assets/images/arduino-uno-q.webpArduino UNO Q LED MatrixA hands-on LED matrix control experiment on Arduino UNO Q.https://ethanyeang.me/assets/video/arduino-uno-q.mp4yes2026-11-04monthly0.65https://ethanyeang.me/en/projects/pipesay/2026-11-04monthly0.65