This page gives a brief video story of the BluPe’s progress.

📹 Progress Videos

🗓 Apr 30, 2025

Given the previous datasets collected, and roughly 100 more outdoor demonstrations, BluPe was able to pick 3 berries, this being the first one. Special thanks to Clay Ranch Berry Farm. While most berries grow in clusters, we can start by picking those that are growing individaully, and once that is refined, the arm will learn to pick from clusters more easily.

🗓 Apr 14, 2025

Arm is bigger, stronger, and we see that we are able to pick berries from 3D space in a noisy environment. Using larger arm is harder as arm needs to be especially persise with final movementes, where minimal movements in the base motors have a large effect on end gripper position as the arm is larger. While this video still took many attempts, we can see that it successfully picks, even with a bunch of leaves.

🗓 Jan 7, 2025

This video was unrealistic, yet mannaged to paint a vision. While a policy was trained, the berry was placed basically in the only spot where the arm could collect. Later we had to figure out how to collect data so that the arm could generalize and pick berries more robustly.