To The Moon

Tesla is changing the course of history with its second revolutionary AI Day event:

Optimus Humanoid Robot

• Fully-functioning prototype tested and demonstrated for the first time with no additional cranes or supports.
• The robot can walk, move, wave, and operates with ten fingers.
• Powered by the same Full Self-Driving Computer that’s in a Tesla.
• Possible for the robot to pick up boxes, and runs on Autopilot neural networks re-trained for a robot.
• The robot can view the world through neural networks.
• Second prototype with Tesla-designed and built actuators, battery packs, and computer that will be similar to the production version.
• Optimus will be able to move fingers independently, with opposable thumbs.
• The goal is to create a humanoid robot that’s usable as quickly as possible.
• Optimus will be built in high volumes with low cost.
• Optimus is designed to be an extremely capable robot, made in volumes of millions.
• Designed to cost “much less than a car, less than $20,000 would be my guess.”
• The potential of Optimus is appreciated by very few people.
• A lot of work needed to refine Optimus.
• The point of AI Day is to recruit people that will bring the vision of Optimus to fruition.
• An economy becomes quasi-infinite, creating a future of abundance with no poverty where humans can have the products and services they want.
• Civilization will be transformed.
• Keeping Tesla a publicly-traded company is essential to ensure that the change has a positive influence.
• Self-driving cars will improve productivity of transport by at the most an order of a magnitude, whereas Optimus could improve economic output by two orders of a magnitude or higher — no clear limit.
• Tesla hopes to create a transition that society wants with Optimus.
• Original prototype was developed just six months after the concept in 2021.
• Today’s robot is the latest generation, with a true focus on the human form.
• 100w power consumption while sitting, 500w while walking briskly.
• 73kg mass.
• 200+ degrees of movement, with 27 in the hand.
• Optimized for cost and efficiency by reducing part count and power consumption, including reducing wiring and centralizing power distribution with compute at the center.
• 2.3kWh battery pack, 52v, with all electronics integrated within the central torso.
• Bot Brain is in the torso, with one Full Self-Driving Computer as well as Wi-Fi, LTE, audio, and security. It can essentially do all that a human brain does.
• 28 structural actuators, 11 degrees-of-freedoms hands.
• Crash software from Model 3 utilized in the robot for damage control when it falls.
• Human-inspired, non-linear joint design.
• Optimized joint for efficient actuators.
• The robot has 28 actuators vs 1–3 in a car.
• Every joint has to be optimized, with too many unique actuator designs.
• Tesla had to run commonality styling to figure out the design of actuators that could be used for multiple joints, resulting in six unique actuator designs.
• One actuator can lift a 9-ton concert grand piano by necessitated design, as quadricep muscles could do the same.
• The hand is a biologically-inspired design, as the world is already ergonomically-designed.
• Six actuators within each hand, with eleven degrees of freedom.
• The hand can carry a twenty-pound bag, use tools, and has a precision grip.
• The neural network is the same as the network used by Autopilot, with new training.
• Volumetric depth rendering is recognized.
• The robot went from first steps in April 2022, to a pelvis unlock in July 2022, an arm sway in August 2022, then a toe off in September 2022 to emulate human walking.
• Physical self-awareness is necessary for walking, as is an energy-efficient gait, balance and coordinated motion that’s all done naturally.
• Locomotion Planning: footsteps planned first, with trajectories to connect the footsteps, then finding a mass trajectory to keep balance.
• Reality isn’t like a simplified bot model with simplified real-world assumptions.
• Un-modeled dynamics lead to de-stablization.
• State estimation and motion control lead to stabilized real behavior.
• Natural motion references from a human demonstration are used to map to the robot, with trajectory optimization to account for variation in the real-world.
• Impressive demonstration completed in 6–8 months.
• Ultimately, Optimus will change world economies.

Full Self-Driving

• 2,000 customers in the Full Self-Driving Beta last year has shifted to 160,000 customers today.
• There have been 35 releases, 281 models, 18,659 pull requests, 75,778 models trained, and a data of 4.8 million clips in between.
• Planning software runs the Full Self-Driving system, built on training infrastructure, occupancy, lanes and objects, training data, and an AI compiler/interface.
• A lot of objects need to be resolved within a glance, as interactions with pedestrians and vehicles need to be evaluated quickly.
• Interaction search: parallelized tree search over maneuver trajectories.
• Seed trajectories branch the interactions, continuously bringing in more interactions to optimize with more constraints.
• A neural planner was built using human examples from the fleet, bringing decision times down to under 100us per action.
• Trajectory scoring is based on collision checks, comfort analysis, intervention likelihood, and a human-like discriminator.
• A video feed from eight cameras understands occlusions in 3D.
• Occupancy networks: based on volumetric occupancy, multi-camera, and video context, persistency through occlusions, occupancy semantics, occupancy flow, resolution, efficient memory and compute, and runs in around ten miliseconds.
• Dense 3D reconstruction using volumetric rendering.
• The occupancy network is trained with a large auto-labeled dataset.
• Video model training: requires parallel compute with three in-house supercomputers, using 10,000 GPU’s for training and 4,000 GPU’s for auto-labeling.
• The accelerator has to be fed reliably, which is done with Tesla’s training computer Dojo.
• Video is trained on the fleet videos directly, with no processing done before that.
• FSD Lanes need to produce the full set lane instances, predicting their connectivity to each other.
• FSD Lanes has its own lane detection neural network, made up of layers encoding the video streams from the vehicle enhanced by a navigation map called a lane guidance module. Tesla converts a dense tensor of lanes into a specialized language component that can encode lanes.
• Simple approaches don’t work in many instances, thus Tesla has to develop complex systems for i.e. lane detection.
• The networks have about a billion parameters combined, with over 1,000 neural network signals.
• 500,000 trips per day have been cached, requiring manual and auto-labeling.
• Automated 3D labeling by multi-trip reconstruction.
• It would take two weeks for artists to create a rendering of an intersection, which would be too long.
• Instead, Tesla’s system can simulate the scene in five minutes.
• Unreal Engine finishes the project simulation, following tile creators, extractors, and loaders.
• Data is created using weeks of work rather than months or years.
• Tooling to identify mis-predictions, with a data engine that perfects the network.

Dojo

• Density will drive new levels of performance for Tesla’s Dojo Accelerator.
• The first functional training tile was demonstrated last year, with a build rate reaching one tile per day.
• A voltage regulator module developed in-house will enable a power improvement to meet production goals.
• All system components must be integrated into power modules.
• Extreme levels of power — Tesla has created a supercomputer that will constantly be improved with new software and a further 10x improvement with next-generation hardware.

Q&A

• Tesla is not just a car company: Tesla is the leader in real-world AI hardware and software, and building the most important computer in decades.
• Open to evolving technical solutions, but the current goal is to become useful as quickly as possible with parts designed to be made at volume.
• Optimus will be tested internally at Gigafactories.
• “Really fun” versions of Optimus will come that can be seen as a buddy.
• As AI improves, Optimus will gain more of a personality and the ability to understand instructions. Optimus is designed to be an android.
• Interventions will be possible to stop the robot from damaging itself if necessary.
• Tesla’s mission broadens to make the future awesome with Optimus.
• Optimus will be awesome in five years, ten years will be mind-blowing.
• Conversational capabilities will be added.
• Localized control ROM is included as an essential safeguard.
• Most efficient way to operate Dojo is to keep it online as an available service to train models.
• Software 2.0 will use a lot of neural net training.
• Elon tests alpha builds of the Full Self-Driving Beta.
• FSD Beta will be ready for a worldwide beta by the end of the year from a technical standpoint.
• Significant Beta improvements to be made next month.
• Advice to younger self: enjoy the moment more.
• The robot is an actuators and sensors problem, which Tesla is solving.
• Optimus will start with simple tasks, with number of useful tasks growing exponentially.
• Optimus release window within 3–5 years.
• Tesla and SpaceX create an environment where great engineers can flourish.
• The internet is the greatest equalizer for knowledge.
• Elon finds right now to be the most interesting time in history.
• Full Self-Driving won’t be perfect, but data will demonstrate it to be significantly safer than a human driver.
• Add-ons for Optimus will be possible.
• AI Day to be held annually with tremendous detail, and the possibility of a monthly podcast.

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