New robot training method: taga-style attention enables massive parallelization
ChongZzZhang · x · 2026-08-17
ChongZzZhang shares a robot training method using taga-style attention: arbitrary mapping to a 12x10 grid with topk=64 sparse attention. On 4xGH200 hardware, each GPU runs 16,000 parallel environments with 24 steps per env, and the resulting policy is deployable.
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