825k-parameter model generates drawing programs that run exactly on RP2040
Rozuzo · reddit · 2026-09-13
- The author trained an 825k-parameter autoregressive transformer to generate 100 bytes of drawing bytecode (not pixels), which a small fixed-point VM executes on a Raspberry Pi Pico, streaming geometry back over UART.
- The execution side is solid: 12,670/12,670 generated traces matched the Python reference VM exactly; the interpreter uses 1,862 bytes of flash, 0 bytes static RAM, 492 bytes peak stack; 7,334 cycles per drawing at 12 MHz (0.61 ms), no floating point or tensor runtime needed.
- Representation comparison depends on the corpus: bit-level matched bytes on a synthetic program corpus but cost 11.6 extra bits per drawing on real QuickDraw sketches.
- Other findings: hierarchical stroke planning didn't improve likelihood but substantially improved termination and length behavior; the model prefers compatible relational context under teacher forcing yet struggles to sample exact compatible continuations.
- Next step: an explicit source-span / affine-relation / copy-or-emit action to test whether explicit relations help exact generation on unseen combinations. Repo and figures are open on GitHub.
More from Embodied
- Walden Robotics CTO: general-purpose robot manipulation is having its 'GPT moment' — adnothing · 2026-10-30
- Gym-Anything Adds Audit Agents That Try to Break Simulations With Legal Robot Actions — wellecks · 2026-10-30
- NVIDIA researcher: train robot policies with privileged sim info, improving Pi 0.5 — wellecks · 2026-10-30
- Rokid Color brings full-color display to smart glasses with China launch — azed_ai · 2026-10-30
- Gym-Anything launches: 200 robot RL environments across 25 simulations — wellecks · 2026-10-30
- Philly Councilmember Proposes Robot Tax on Driverless Vehicles and Delivery Robots — QuintinPope5 · 2026-10-30