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Pretraining and scaling as a methodology and scientific perspective
Jiaxuan Zou’s essay on pretraining and scaling as a shared methodology across language, robotics, and world models—covering learning conditions, training/inference milestones, efficiency, stability, and predictability as scientific research practice.
11 min · 2,627 words
Seohong Park reproduces four real-robot behavioral cloning quirks in sim: overfitting can help, open-loop beats closed-loop, policies need huge MLPs, and feature scaling still matters under infinite data—all driven by test-time distribution shift.
13 min · 2,876 words