Projects, builds and write-ups by Artur Habuda.https://arturhabuda.com/https://arturhabuda.com/2026/09/09/real-time-chunking-pitfalls/https://arturhabuda.com/2026/09/09/real-time-chunking-pitfalls/Six places where real-time chunking for action-chunk policies is easy to misread, from what the noise in the loss actually is to why the exact guidance from the paper cannot be exported to an inference engine while LeRobot's can. With interactive figures you can push around.Wed, 09 Sep 2026 00:00:00 GMThttps://arturhabuda.com/2026/03/20/attention-heatmaps-in-vla-pi0-and-foca/https://arturhabuda.com/2026/03/20/attention-heatmaps-in-vla-pi0-and-foca/Attention heatmaps can reveal a great deal of information about the internal mechanisms that drive the decisions made by a VLA. In this blog post, I aim to showcase how an implementation of visual heatmaps while running inference with PI0 and a variant with future frames guiding can help with this task. In distribution tasks…Fri, 20 Mar 2026 18:43:28 GMThttps://arturhabuda.com/2026/02/23/jetson-thor-setup-for-vla-training/https://arturhabuda.com/2026/02/23/jetson-thor-setup-for-vla-training/The setup was specifically tested with pi0, although it is extrapolable to other VLAs and policies due to the error arising from a CUDA and PyTorch compatibility problem, which bottlenecks most VLA deployments. The Hardware: NVIDIA Jetson AGX Thor (Blackwell GPU, SBSA Architecture) Target OS: Ubuntu 24.04 (JetPack 7 / L4T 38.x)Lates Validated: 23 Feb,…Mon, 23 Feb 2026 12:57:48 GMThttps://arturhabuda.com/2025/07/01/foundation-robotics-model-comparison/https://arturhabuda.com/2025/07/01/foundation-robotics-model-comparison/Article written on June 30st 2025 A Technical Deep Dive into ACT, GR00T, and How to effectively collect a lerobot dataset The promise of foundation models in robotics is enormous: instruct a robot in natural language, and watch it perform a task. With state-of-the-art tools seemingly making this more accessible than ever, I aim to…Tue, 01 Jul 2025 11:54:44 GMThttps://arturhabuda.com/2025/07/01/build-tutorial-so-101-robot-arms/https://arturhabuda.com/2025/07/01/build-tutorial-so-101-robot-arms/Follow along with the detailed POV video for precise visual guidance. Keep in mind that while this video is largely uncut, the actual build time might be three times longer or more, depending on your experience and skill level. Building your own robot arm is an incredibly rewarding experience, and the SO-101 is a fantastic…Tue, 01 Jul 2025 11:08:50 GMThttps://arturhabuda.com/2025/07/01/vlm-in-the-loop/https://arturhabuda.com/2025/07/01/vlm-in-the-loop/Can a VLM replace human annotators in human-in-the-loop systems? Can an AI Judge AI? Automating Data Annotation with VLMs Data is the keystone of modern AI, but getting high-quality, labeled data is one of the biggest bottlenecks in computer vision. The traditional solution, having humans meticulously label or verify thousands of images, is slow, expensive,…Tue, 01 Jul 2025 10:23:09 GMThttps://arturhabuda.com/2025/06/30/wanna-run-your-favourite-deep-learning-models-or-demanding-software-from-anywhere-build-a-remote-server-like-this-one/https://arturhabuda.com/2025/06/30/wanna-run-your-favourite-deep-learning-models-or-demanding-software-from-anywhere-build-a-remote-server-like-this-one/My Ultimate Remote Workstation: How I Paired a MacBook with a Powerful Dual-Boot Server MacBooks are fantastic for travel and everyday tasks with their incredible battery life, but they often fall short when it comes to specialized engineering software, high-end gaming, or heavy-duty deep learning tasks that thrive on Windows or Linux with a beefy…Mon, 30 Jun 2025 23:08:31 GMThttps://arturhabuda.com/2025/06/29/lerobot-worldwide-hackathon-how-we-got-into-the-top-30-worldwide/https://arturhabuda.com/2025/06/29/lerobot-worldwide-hackathon-how-we-got-into-the-top-30-worldwide/The link to the github repo: https://github.com/vocdex/lerobot-draws Our team put in a great deal of effort to assemble this final demo submission. In the end, it paid off! We were selected as one of the top creative teams in Munich as well as one of the #top30 winners from the worldwide LeRobot hackathon. Here are…Sun, 29 Jun 2025 07:40:31 GMThttps://arturhabuda.com/2024/12/31/modelling-go-fish-using-plcc-comparing-classicheuristics-and-deep-learning-through-a-bayesianimplementation/https://arturhabuda.com/2024/12/31/modelling-go-fish-using-plcc-comparing-classicheuristics-and-deep-learning-through-a-bayesianimplementation/In this work together with other colleagues, we modeled the card game “Go Fish” through epistemic logic and implemented several heuristics and intelligent agents to play the game. I was mainly involved in the design and implementation of a deep learning agent that was later tested against classic heuristic agents. A supervised approach, specifically Q-learning,…Tue, 31 Dec 2024 20:56:20 GMThttps://arturhabuda.com/2024/12/31/on-the-influence-of-chat-gpt-on-the-problemsolving-ability-of-students/https://arturhabuda.com/2024/12/31/on-the-influence-of-chat-gpt-on-the-problemsolving-ability-of-students/A pilot study on the influence of chatgpt on university students when resolving logical problems. Together with my collegue Fraciszek Gorczyca, we conducted an experiment to test the aforementioned hypothesis.Tue, 31 Dec 2024 15:59:21 GMThttps://arturhabuda.com/2024/12/31/an-improived-deep-learning-methodology-for-golf-ballintial-velocity-estimation-from-doppler-signal/https://arturhabuda.com/2024/12/31/an-improived-deep-learning-methodology-for-golf-ballintial-velocity-estimation-from-doppler-signal/Tue, 31 Dec 2024 15:44:47 GMThttps://arturhabuda.com/2024/01/01/multi-object-detection/https://arturhabuda.com/2024/01/01/multi-object-detection/Work carried out totgether with Omer Abdella. The project is structured in literature review, paper validation and algorithm testing on new Data – including new data formats. Purpose Statement and Introduction: The aim of the project is to test the effectivness of a state-of-the-art visual detection and tracking algorithm on new data. In this project…Mon, 01 Jan 2024 19:41:11 GMThttps://arturhabuda.com/2024/01/01/opti-skate/https://arturhabuda.com/2024/01/01/opti-skate/In collaboration with the 1st Year Students of the eu4m program: Ignacio, Eduardo, Mary, Nebojsca and Yi-Yong. Supervised by Prof J.Walter This project involves work with microcontrollers, databases, and mobile applications. It is being developed as a part of the Micocontroller technology class at Hochshule Karlsruhe. Main Idea: A kit, to be easily integrated into…Mon, 01 Jan 2024 19:03:12 GMThttps://arturhabuda.com/2023/12/07/robotic-psycholocical-theraphy/https://arturhabuda.com/2023/12/07/robotic-psycholocical-theraphy/More on it to come. Project will be ready by January 2024. Basic Components: The project is carried on on top of the NAO Robot framework. AI’s such as an LLM, an image recognition model for emotion detection and an image generation model, run and tuned locally, are designed to equip the NAORobot with nuanced…Thu, 07 Dec 2023 23:18:15 GMThttps://arturhabuda.com/2023/12/07/bachelor-thesis/https://arturhabuda.com/2023/12/07/bachelor-thesis/Condition Monitoring of Wind Turbines by means of machine learning methodsThu, 07 Dec 2023 23:11:44 GMThttps://arturhabuda.com/2023/12/05/active-stent/https://arturhabuda.com/2023/12/05/active-stent/Tue, 05 Dec 2023 22:26:21 GMThttps://arturhabuda.com/2023/12/05/home-server/https://arturhabuda.com/2023/12/05/home-server/A small home server was initially conceived to host a private cloud storage service. The service was based on open-source software called Nextcloud. Additionally, a private VPN service, based as well on open-source work; Wireguard was set up to; not only access the cloud service from outside of my home, but also access my entire…Tue, 05 Dec 2023 22:24:35 GMThttps://arturhabuda.com/2023/12/05/hybrid-small-scale-rocket-engine/https://arturhabuda.com/2023/12/05/hybrid-small-scale-rocket-engine/More on it to come…Tue, 05 Dec 2023 22:06:50 GMThttps://arturhabuda.com/2023/12/05/mining-rig/https://arturhabuda.com/2023/12/05/mining-rig/More on it about to come…Tue, 05 Dec 2023 21:48:12 GMThttps://arturhabuda.com/2023/12/05/cnc-machine/https://arturhabuda.com/2023/12/05/cnc-machine/More on it about to come…Tue, 05 Dec 2023 21:03:14 GMT