# Onasafari

- **Event:** [Meta Global AI Developer Hackathon](https://cerebralvalley.ai/e/meta-ai-developer-hackathon)
- **When:** Oct 26, 12:00 PM – Nov 4, 9:00 PM (EST)
- **Where:** Online
- **Team:** [Ariel Anders](https://cerebralvalley.ai/u/onasafari)
- **GitHub:** https://github.com/arii/muse
- **Demo video:** https://vimeo.com/1243524488?share=copy&fl=sv&fe=ci
- **Gallery:** https://cerebralvalley.ai/e/meta-ai-developer-hackathon/hackathon/gallery
- **Page:** https://cerebralvalley.ai/e/meta-ai-developer-hackathon/hackathon/gallery/4515

Whole-arm grasping, revisited: my 2014 MIT master's thesis (Learning a Strategy for Whole-Arm Grasping), re-run with 2026 tools. Same spirit — a 3-DOF arm learning enveloping grasps, force closure as the goal — harder task: language-conditioned targets in clutter that I singulate before grasping. Tell the arm what to grasp in words: a VLM grounds the instruction, and SAM 3.1 (Meta Model API) segments the target. An antipodal sampler proposes grasps on the mask, and MuJoCo executes. My thesis ran Box2D with SARSA; here PPO from scratch, BC, and diffusion policies join scripted and VLM planners. I benchmark all seven planner families on identical seeds across five clutter scenes, scored on force closure, singulation, and displacement. Headlines: PPO wins 40/50 by learning restraint; BC ties its teacher 40–40 at 2× data. Docker-reproducible, 115+ commits Oct 27–Nov 4.

## More from Meta Global AI Developer Hackathon

- [JackLabs.ai](https://cerebralvalley.ai/e/meta-ai-developer-hackathon/hackathon/gallery/4512)
- [Khadzhi Sarakaev](https://cerebralvalley.ai/e/meta-ai-developer-hackathon/hackathon/gallery/4513)
- [Safecheck Ai](https://cerebralvalley.ai/e/meta-ai-developer-hackathon/hackathon/gallery/4514)
- [Spark Maxxing](https://cerebralvalley.ai/e/meta-ai-developer-hackathon/hackathon/gallery/4516)
- [Aylon Ben-Ami](https://cerebralvalley.ai/e/meta-ai-developer-hackathon/hackathon/gallery/4517)
- [Artiom Varvarenko](https://cerebralvalley.ai/e/meta-ai-developer-hackathon/hackathon/gallery/4518)

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Markdown version of https://cerebralvalley.ai/e/meta-ai-developer-hackathon/hackathon/gallery/4515. Site index for agents: https://cerebralvalley.ai/llms.txt · full text: https://cerebralvalley.ai/llms-full.txt