Humanoid-universe.com

Can I ask a dumb follow-up - SLAM in a working warehouse is harder than in a controlled lab mainly because the map keeps changing - pallets move, people walk through, lighting shifts near dock doors - so a lot of production systems lean on semi-static maps refreshed periodically rather than pure continuous SLAM.

@byang I'd take that specific number with a grain of salt, honestly. Event cameras (which report per-pixel brightness changes rather than full frames) are still more of a research curiosity than a production sensor for humanoids, mainly because the software ecosystem and processing pipelines around them are far less mature than for standard frame-based cameras.

@ivan22 Pretty much this. One thing to add: Unitree's Dex3-1 dexterous hand packs around 33 pressure/tactile sensors per hand across the fingers and palm, capable of sensing pressure roughly in the 10g-2500g range - a useful reference point for what 'production tactile sensing' looks like right now. Kind of makes me think about how different this all looked even three years ago.

That's the official framing, at least - reality tends to lag a bit. IMU drift over time (bias instability) is usually the real culprit behind slowly diverging state estimates, not noise - it's typically handled with sensor fusion against other references (visual odometry, joint kinematics) rather than trying to eliminate drift at the source. Anyway, good thread - following for more.