live demos
the playground
two live demos, both running real embeddings from the released models and ranking by cosine similarity in your browser: search a robot's memory with engram, then recognize real tactile grasps with tactus.
Engram · robot memory
Search a robot's memory.
A Unitree humanoid's shift, searchable by what it saw or how it moved. every result is a real embedding match, ranked live in your browser.
try one
the robot's shift, start → end
head-IMU motion energy
manipulationlocomotionmotion energyclick any moment → find similar
moments like this
Tactus · touch
Recognize a grasp.
real held-out test grasps from the STAG dataset, ranked live by the released model's embeddings. each map is a hand's 32×32 pressure reading; pick an object and the grasps are re-ranked by cosine similarity between its text embedding and each grasp's pressure embedding.
ask what the hand is holding