07/2026 - Robotic Object Recognition for Thousand Brains Systems

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Издатель Aug 4, 2026

Special guest Zachary Danzig shares his undergraduate thesis with the team. Zachary’s hard work brought Monty onto real robotic hardware. His project combined a stereo camera (to act as a distant agent), a time-of-flight depth sensor and a UFactory Lite 6 robotic arm (to act as a surface agent) to explore how multiple sensing modalities can work in the real world for learning and object recognition in Monty. Zachary’s proof-of-concept thesis lays the foundation for future robotics research with Monty.

If you want to follow Zachary’s journey putting this project together, you can retrace his footsteps on the forum: https://forum.thousandbrains.org/t/design-of-final-year-undergraduate-project-with-the-inclusion-of-the-tbp/417

0:00 Introduction
0:08 Introducting Zachary Danzig
1:15 Robotic Object Recognition for Thousand-Brains Systems
1:49 Background: Discovering the Thousand Brains Theory
3:57 Project Aim and Objectives
4:38 Project Timeline
5:11 Monty Meets World Proof of Concept: iPad LiDAR
6:04 Background Research
7:25 Sensor Research
8:09 A Dual-Agent Project Approach
9:09 Sensorimotor System Flowchart
10:09 Distant Agent Setup
11:05 Surface Agent Setup
12:16 Translating Abstract Goals to Robot Motion
14:39 Running through the Experiment
16:39 Filtering Time of Flight Data
17:17 Reference Frames
18:15 The Dataset
18:55 Distant Agent Experiments
21:16 Demoing a Distant Agent Experiment
22:08 Distant Agent Results (Supervised Training Evaluation)
22:24 Distant Agent Results (Rotation Invariance Experiment)
24:44 Distant Agent Results (Continual Learning Experiment)
27:52 Surface Agent Demo
28:18 Surface Agent Results (The Hardware Reality)
29:08 Challenges Faced: Time of Flight Sensor Scattering
30:07 Challenges Faced: Interfacing with the Lower-Level Workings of Monty
30:39 Challenges Faced: Working with a Changing Codebase
31:43 Tips for Future Community Projects
33:29 Extensions to the Project
38:09 What I Would Do With More Time
39:38 Q&A: Tactile Sensors Discussion
44:49 Q&A: Safety Features and Motor Constraints
53:47 Thank you Zach!

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