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SphericalCowww

Show HN: Cubic Doggo 07B Wouf: A low-cost open-source quadruped with ST3215

https://github.com/SphericalCowww/CubicDoggo_07B

Cubic Doggo 07B Wouf is a ROS2-controlled 12-DOF untethered quadruped, built with ST3215 smart servos fully with off-the-shelf components and 3D-printed partsFeaturing: * 12 ST-3215-C018 servos, usually on a bundled sale because of SO-ARM101 * Walking forward with a payload of 1 kg * Smart servos as required for closed-loop reinforcement learning capability * FreeCAD models fully available for...

( Read More... | no comments | 2 points | on HN )

Show HN: Cubic Doggo, a Open-Source 12-DOF 4-Legged Robot Based on ROS2

https://github.com/SphericalCowww/CubicDoggo

This is a recipe for building intermediate-priced robot dog from scratch with all commercial/3D-printed parts, controlled by Rasp Pi 5 and ROS2 Jazzy. A manually coded walk gait is implemented so far, which can be controlled by a controller to move forward or change directions. It does not yet have an IMU required for RL training; however, I believe it's one of the simplest design out there...

( Read More... | 1 comment | 3 points | on HN )
Just to understand what you mean, you are worried that there are 2 or more LoRAs that have almost identical content but are distinct only in timestamps. Yeah, that could be a problem...

Hmm..., perhaps the similarity for recency does need to be incorporated through orthogonality, but can somehow be implemented through weight preference, such that the new weight is influenced by the weight history.

Thanks, that is a very good point, will take that into consideration!

This is more of a conceptual idea from an AI hobbyist; hopefully, the big claims for motivation are not too distracting. After doing too many basic-level tutorials, this could be an interesting intermediate-level project to apply modern AI architectures. What is your opinion?
Re:What if AI doesn't need more RAM but better math? on Friday April 03, 2026 @07:34AM (#47625489)
I put my ideas here in case you are interested: https://github.com/SphericalCowww/ML_LunaLoRA
Re:What if AI doesn't need more RAM but better math? on Friday April 03, 2026 @07:33AM (#47625485)
I put all the conceptual ideas here (spiced with far-fetched claims): https://github.com/SphericalCowww/ML_LunaLoRA

But I think my hn level is too low, would really like some expert's opinion, though, whelp... Meanwhile, let me implement some basic models first.

Re:What if AI doesn't need more RAM but better math? on Tuesday March 31, 2026 @05:21AM (#47584727)
My understanding is that this is what the LoRAs are for; my belief is that they serve as "memory" to their live observations (a more NN-like cache, say), while the main LLM remains unchanged. These LoRAs are also weighted, so that LoRAs irrelevant to the current task will not be trained, while the relevant LoRAs will be reinforced.

But I never built it, so I am not sure if such an emergent state will appear or not.

Re:What if AI doesn't need more RAM but better math? on Sunday March 29, 2026 @10:15AM (#47563339)
I mean, since GPT-4, I believe the RAM is no longer creating the miracle that the LLM performance scales directly with the model size. At least ChatGPT itself convinced me that any decent-sized company can create a GPT4 equivalent in terms of model size, but limited by service options, like memory cache and hallucination handling. Companies buy RAM simply to ride the stock hype.

I am no expert, so this is a shallow take, but I think the global LLM already reaches its limit, and general AGI could only be possible if it's living in the moment, i.e., retraining every minute or so, and associating it with a much smaller device that can observe the surroundings, like a robot or such.

Instead of KV cache, I have an idea of using LoRA's instead: having a central LLM unchanged by learning, surrounded by a dozen or thousands of LoRAs, made orthogonal to each other, each competed by weights to be trained every 1 min say. The LLM, since it's a RNN anyway, provides "summarize what your state and goal is at this moment" and trains the LoRAs with the summary along with all the observations and say inputs from the users. The output of the LoRAs feeds back to the LLM for it to decide the weights for further LoRAs training.

Anyways, I am just thinking there needs to be a structure change of some kind.

Re:Electronics for Kids, 2nd Edition on Sunday March 22, 2026 @08:34AM (#47476864)
Is it me, or are hobby electronic shops much harder to find today, like the one that sells Arduino, basic RCL's, and common IC's? I am not sure if it's just a trend that everything is sold online or if the interest is shifting towards software.