Thursday, 19th February 2026
PPO vs VLM
Modern humanoid robots combine two fundamentally different kinds of intelligence:
[... 638 words]GR00T N1.6 Fine-Tuning — Full Internal Deep Dive
GR00T N1.6 is NVIDIA’s Vision-Language-Action (VLA) model for humanoid robot control. I spent time studying the internals. Here’s a comprehensive explanation of exactly how fine-tuning works, from model architecture to gradient flow to the data pipeline.
[... 1,196 words]GR00T Architecture: A Systems Engineering Breakdown
GR00T is not just a VLM. It is a Perception → Reasoning → Control generator stack.
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