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Test Results","anchor":"2-test-results","url":"/en/blog/2026/batch-lio/#2-test-results","chain":["Blog","Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","2. Test Results"],"tags":["LIO","robotics","open-source"],"categories":["engineering"],"text":"The current experiments use sentinel-robot Livox rosbags. The test platform is an x86 computer running Ubuntu 22.04. With the same data and parameters, the Point-LIO-style fine-grained update is enabled by setting: batch_dt: 0.0 A 1 ms Batch-LIO update is enabled by setting: batch_dt: 0.001 The results under ROS 2 Humble are: Rosbag Point-LIO-style update Batch-LIO 1 ms Speedup quick-shack 12.42 ms 3.51 ms 3.5× outdoor_run 2.56 ms 0.54 ms 4.7× These values are the mean compute time per point-cloud frame. With the current test data and parameters, the Batch-LIO trajectories are close to the Point-LIO baseline; no obvious trajectory degradation was observed.","excerpt":"The current experiments use sentinel-robot Livox rosbags. The test platform is an x86 computer running Ubuntu 22.04. With the same data and parameters, the Point-LIO-style fine-grained update is enabled by setting: batch","content_hash":"c98650874692b798e881af4047bfc8e5c3757fd175cab8370ad250fc1d1b03ac","part":1,"length":173},{"id":"chunk-642084b5579966ef4d","document":9,"title":"Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","heading":"2. Test Results","anchor":"2-test-results","url":"/en/blog/2026/batch-lio/#2-test-results","chain":["Blog","Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","2. Test Results"],"tags":["LIO","robotics","open-source"],"categories":["engineering"],"text":"Tests across different batch windows show that increasing the window reduces the number of filter updates and further lowers compute time. A larger window, however, also increases motion-compensation error and may affect filter stability. The current recommendation is a batch_dt of 1–2 ms.","excerpt":"Tests across different batch windows show that increasing the window reduces the number of filter updates and further lowers compute time. A larger window, however, also increases motion-compensation error and may affect","content_hash":"effea0930787146888ef3423b321129842817a78d129893217b86e025b263138","part":1,"length":106},{"id":"chunk-450de8c7d79deec4e7","document":9,"title":"Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","heading":"3.1 Time-Window Grouping","anchor":"31-time-window-grouping","url":"/en/blog/2026/batch-lio/#31-time-window-grouping","chain":["Blog","Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","3.1 Time-Window Grouping"],"tags":["LIO","robotics","open-source"],"categories":["engineering"],"text":"Point-LIO is designed around point-wise updates. In practice, its implementation groups a small number of points with identical timestamps, but those groups are usually still small, so each frame requires many fine-grained updates. Instead of grouping only points whose timestamps are exactly equal, Batch-LIO places neighboring points acquired over roughly 1 ms into the same window: Point-LIO: [t₀] [t₁] [t₂] [t₃] [t₄] ... ↓ ↓ ↓ ↓ ↓ many small updates Batch-LIO: [ t₀ to tₙ, about 1 ms ] ↓ one joint update This substantially reduces the number of EKF updates performed for each frame.","excerpt":"Point-LIO is designed around point-wise updates. In practice, its implementation groups a small number of points with identical timestamps, but those groups are usually still small, so each frame requires many fine-grain","content_hash":"582e11f3a54ff903440de91e1100a8d77d2aa6c56eb799c8bc9553c2fa521e60","part":1,"length":151},{"id":"chunk-26c4473c10e047a201","document":9,"title":"Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","heading":"3.2 Motion Compensation Within a Batch","anchor":"32-motion-compensation-within-a-batch","url":"/en/blog/2026/batch-lio/#32-motion-compensation-within-a-batch","chain":["Blog","Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","3.2 Motion Compensation Within a Batch"],"tags":["LIO","robotics","open-source"],"categories":["engineering"],"text":"Points in the same batch are not captured at the same instant, so they cannot be matched as though they were a simultaneous point cloud. Batch-LIO compensates every point in the window to the sampling time of the final point. For the $j$-th point, the time offset relative to the end of the window is: The rotational compensation is computed from the angular velocity in the current filter state: The translational compensation is: The compensated LiDAR point is then: The linear velocity $v$ in the state is expressed in the world frame, whereas LiDAR motion compensation is performed in the body frame. The transformation $R_I^\\top$ is therefore required; $v \\Delta t_j$ cannot be used directly.","excerpt":"Points in the same batch are not captured at the same instant, so they cannot be matched as though they were a simultaneous point cloud. Batch-LIO compensates every point in the window to the sampling time of the final p","content_hash":"1925aacfc1754ee1d46ac13da6dfbfbef6bd1e27db82c7b809a49ff7ce2d69ae","part":1,"length":187},{"id":"chunk-53431af5f7617e29ef","document":9,"title":"Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","heading":"3.3 Joint Filter Update","anchor":"33-joint-filter-update","url":"/en/blog/2026/batch-lio/#33-joint-filter-update","chain":["Blog","Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","3.3 Joint Filter Update"],"tags":["LIO","robotics","open-source"],"categories":["engineering"],"text":"After compensating motion within the window, Batch-LIO performs the following operations for the points in the batch: map nearest-neighbor search; local plane fitting; point-to-plane residual computation; Jacobian construction. All valid measurements are then stacked, and a single EKF update is performed at the end of the window. The main source of Batch-LIO’s speedup is therefore not a reduction in the number of points used for matching. It comes from: reducing the number of filter updates; reducing repeated filter computations; merging many small tasks into larger point groups; making KNN and plane fitting more suitable for OpenMP parallelism.","excerpt":"After compensating motion within the window, Batch-LIO performs the following operations for the points in the batch: map nearest-neighbor search; local plane fitting; point-to-plane residual computation; Jacobian constr","content_hash":"827cf6ee338436134113834825237078c73de7903b0def0cef1b61770b11e880","part":1,"length":164},{"id":"chunk-07d0513237a2737b1e","document":9,"title":"Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","heading":"3.3 Joint Filter Update","anchor":"33-joint-filter-update","url":"/en/blog/2026/batch-lio/#33-joint-filter-update","chain":["Blog","Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","3.3 Joint Filter Update"],"tags":["LIO","robotics","open-source"],"categories":["engineering"],"text":"The tests showed that applying OpenMP directly to Point-LIO’s small point groups can make execution slower because thread-scheduling overhead exceeds the amount of useful computation. Batch grouping increases the number of points handled in each update, allowing OpenMP to produce a clearer benefit.","excerpt":"The tests showed that applying OpenMP directly to Point-LIO’s small point groups can make execution slower because thread-scheduling overhead exceeds the amount of useful computation. Batch grouping increases the number ","content_hash":"d11f9504694b36ca45ac48b905fbfd5542613d1be0961f53e146fe897fd2d266","part":1,"length":110},{"id":"chunk-f5a4c1437bf40235f0","document":9,"title":"Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","heading":"4. Current Limitations","anchor":"4-current-limitations","url":"/en/blog/2026/batch-lio/#4-current-limitations","chain":["Blog","Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","4. Current Limitations"],"tags":["LIO","robotics","open-source"],"categories":["engineering"],"text":"The project still has several limitations: Testing is based primarily on a limited number of rosbags, with insufficient data volume and scenario coverage. Long-duration testing on a RoboMaster sentinel robot has not yet been completed. The current data has no reliable trajectory ground truth. Results have only been compared with the Point-LIO baseline, without formal ATE or RPE evaluation. Larger batch windows may make the filter unstable. The current results therefore demonstrate the feasibility of batch updates and the scale of the potential compute-time reduction. They do not constitute complete accuracy validation or real-robot validation. Testing on different LiDARs, compute platforms, and real robots is welcome. Problems and improvement ideas can be reported through GitHub Issues.","excerpt":"The project still has several limitations: Testing is based primarily on a limited number of rosbags, with insufficient data volume and scenario coverage. Long-duration testing on a RoboMaster sentinel robot has not yet ","content_hash":"7572196e7846646403b42bea524c24a2a4fdd3918f261d0a785aadfe043f2f1f","part":1,"length":178},{"id":"chunk-24ba522de103fa6058","document":9,"title":"Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","heading":"5. Future Work","anchor":"5-future-work","url":"/en/blog/2026/batch-lio/#5-future-work","chain":["Blog","Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","5. Future Work"],"tags":["LIO","robotics","open-source"],"categories":["engineering"],"text":"The planned work is tracked in GitHub Issue #9.","excerpt":"The planned work is tracked in GitHub Issue #9.","content_hash":"0fd6fa6a65a9fee2c565ef73d7b2ca990be49a49a97ea8e48e84309dca1f15fe","part":1,"length":71},{"id":"chunk-d2a49042f51e4cddc1","document":9,"title":"Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","heading":"5.1 CPU-Side Optimization","anchor":"51-cpu-side-optimization","url":"/en/blog/2026/batch-lio/#51-cpu-side-optimization","chain":["Blog","Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","5.1 CPU-Side Optimization"],"tags":["LIO","robotics","open-source"],"categories":["engineering"],"text":"While retaining Batch-LIO’s batch-update method, selected optimizations from Small Point-LIO will be explored for the voxel map, memory management, and fixed-size measurement computation.","excerpt":"While retaining Batch-LIO’s batch-update method, selected optimizations from Small Point-LIO will be explored for the voxel map, memory management, and fixed-size measurement computation.","content_hash":"86926da9d31315e67cbab0dc6847f431134888a34ca5685c9f3353e2a559a66e","part":1,"length":88},{"id":"chunk-e9f89ea72868f708cd","document":9,"title":"Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","heading":"5.2 CUDA Acceleration","anchor":"52-cuda-acceleration","url":"/en/blog/2026/batch-lio/#52-cuda-acceleration","chain":["Blog","Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","5.2 CUDA Acceleration"],"tags":["LIO","robotics","open-source"],"categories":["engineering"],"text":"The first CUDA back end will target a discrete GPU on x86, with the GPU handling: voxel-map queries and updates; point-cloud nearest-neighbor search; plane matching and residual construction; parallel reduction of the information matrix and information vector. The CPU will retain IMU state propagation and the small EKF solve. A CPU/GPU dispatch threshold will be evaluated according to batch size.","excerpt":"The first CUDA back end will target a discrete GPU on x86, with the GPU handling: voxel-map queries and updates; point-cloud nearest-neighbor search; plane matching and residual construction; parallel reduction of the in","content_hash":"5e4f7b27ef2b82f282e652c222b38c7e659398fba008df0016852eb73822dc00","part":1,"length":125},{"id":"chunk-e0c167135720122db4","document":9,"title":"Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","heading":"5.3 Map Representation and Robust Matching","anchor":"53-map-representation-and-robust-matching","url":"/en/blog/2026/batch-lio/#53-map-representation-and-robust-matching","chain":["Blog","Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","5.3 Map Representation and Robust Matching"],"tags":["LIO","robotics","open-source"],"categories":["engineering"],"text":"Drawing on ideas from FR-LIO and FAR-LIO, planned experiments include a robot-centric voxel map, adaptive point-cloud density, robust matching thresholds, and sparse GICP, while preserving Batch-LIO’s batch-measurement semantics.","excerpt":"Drawing on ideas from FR-LIO and FAR-LIO, planned experiments include a robot-centric voxel map, adaptive point-cloud density, robust matching thresholds, and sparse GICP, while preserving Batch-LIO’s batch-measurement s","content_hash":"c9fd18e9266779891a2ecc155b2b66575ee87cd938e0e60316f97561108067da","part":1,"length":99},{"id":"chunk-088f69d2bafef81d93","document":9,"title":"Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","heading":"5.4 Jetson Deployment","anchor":"54-jetson-deployment","url":"/en/blog/2026/batch-lio/#54-jetson-deployment","chain":["Blog","Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","5.4 Jetson Deployment"],"tags":["LIO","robotics","open-source"],"categories":["engineering"],"text":"After the x86 CUDA version has been validated, it will be ported to Jetson and evaluated for: sustained runtime latency; P50, P95, and P99 execution time; power consumption and temperature; memory use and thermal throttling; performance while LIO and TensorRT perception tasks run concurrently.","excerpt":"After the x86 CUDA version has been validated, it will be ported to Jetson and evaluated for: sustained runtime latency; P50, P95, and P99 execution time; power consumption and temperature; memory use and thermal throttl","content_hash":"91f61916ce49e2c1d8b163095a2f47b85adcfafe69399105f14fcbd917090d08","part":1,"length":108},{"id":"chunk-bd22c16ac40449e739","document":9,"title":"Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","heading":"5.5 More Platforms and Data","anchor":"55-more-platforms-and-data","url":"/en/blog/2026/batch-lio/#55-more-platforms-and-data","chain":["Blog","Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","5.5 More Platforms and Data"],"tags":["LIO","robotics","open-source"],"categories":["engineering"],"text":"Future work also includes ROS 2 Jazzy support and more complete trajectory-accuracy, stability, and performance testing on datasets with ground truth and on real RoboMaster robots. All subsequent optimizations will retain the original Batch-LIO comparison path.","excerpt":"Future work also includes ROS 2 Jazzy support and more complete trajectory-accuracy, stability, and performance testing on datasets with ground truth and on real RoboMaster robots. All subsequent optimizations will retai","content_hash":"2e5b870ea060d51b8f4f8a1bd31ea5abd4a58159442ae92224e3ccf67692226e","part":1,"length":104},{"id":"chunk-192c330c72cedddeb3","document":9,"title":"Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","heading":"6. Open-Source Repository","anchor":"6-open-source-repository","url":"/en/blog/2026/batch-lio/#6-open-source-repository","chain":["Blog","Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","6. Open-Source Repository"],"tags":["LIO","robotics","open-source"],"categories":["engineering"],"text":"Repository: github.com/Functionhx/Batch-LIO The main branch currently contains the ROS 2 Humble version. The ROS 1 Noetic version is preserved under the ros1-noetic tag. Testing with different LiDAR models, compute platforms, and real robots is welcome, as are Issues and pull requests.","excerpt":"Repository: github.com/Functionhx/Batch-LIO The main branch currently contains the ROS 2 Humble version. The ROS 1 Noetic version is preserved under the ros1-noetic tag. Testing with different LiDAR models, compute platf","content_hash":"a1251303f7619a2c373957a8774a62e6b9fd20007b4fb857b4c5a2a17a099549","part":1,"length":106},{"id":"chunk-0f595f7d5ea0195f38","document":9,"title":"Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","heading":"7. References","anchor":"7-references","url":"/en/blog/2026/batch-lio/#7-references","chain":["Blog","Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","7. References"],"tags":["LIO","robotics","open-source"],"categories":["engineering"],"text":"[1] D. He, W. Xu, N. Chen, F. Kong, C. Yuan and F. Zhang, “Point-LIO: Robust High-Bandwidth Light Detection and Ranging Inertial Odometry,” Advanced Intelligent Systems, 2023. [2] 张昊鹏，《高带宽轮式激光惯性里程计（Batch-LIWO）》，中国科学技术大学本科毕业设计。 [3] W. Xu and F. Zhang, “FAST-LIO: A Fast, Robust LiDAR-Inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter,” IEEE Robotics and Automation Letters, 2021. [4] W. Xu, Y. Cai, D. He, J. Lin and F. Zhang, “FAST-LIO2: Fast Direct LiDAR-Inertial Odometry,” IEEE Transactions on Robotics, 2022. [5] HKU-MARS, Point-LIO: github.com/hku-mars/Point-LIO [6] ACE, Small Point-LIO: github.com/Yancey2023/small_point_lio [7] J. Liu, Y. Zhang, X. Zhao and Z. He, “FR-LIO: Fast and Robust LiDAR-Inertial Odometry by Tightly-Coupled Iterated Kalman Smoother and Robocentric Voxels,” 2023.","excerpt":"[1] D. He, W. Xu, N. Chen, F. Kong, C. Yuan and F. Zhang, “Point-LIO: Robust High-Bandwidth Light Detection and Ranging Inertial Odometry,” Advanced Intelligent Systems, 2023. [2] 张昊鹏，《高带宽轮式激光惯性里程计（Batch-LIWO）》，中国科学技术大学本","content_hash":"82f1c89c6bcd3e782c42b83afbd63d00f6072862ad80c00d05fd253d4a2e27ef","part":1,"length":201},{"id":"chunk-d25596a0868e9265e4","document":9,"title":"Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","heading":"7. References","anchor":"7-references","url":"/en/blog/2026/batch-lio/#7-references","chain":["Blog","Batch-LIO: Batch Updates Make Point-LIO up to 4.7× Faster","7. References"],"tags":["LIO","robotics","open-source"],"categories":["engineering"],"text":"[8] M. Leitenstern, M. Weinmann, P. Haft, T. Lasser, D. Kulmer and M. Lienkamp, “FAR-LIO: Enabling High-Speed Autonomy through Fast, Accurate, and Robust LiDAR-Inertial Odometry,” 2026. The Chinese original was published on the RoboMaster Community on July 22, 2026. The community edition is licensed under CC BY-NC-SA 4.0.","excerpt":"[8] M. Leitenstern, M. Weinmann, P. Haft, T. Lasser, D. Kulmer and M. Lienkamp, “FAR-LIO: Enabling High-Speed Autonomy through Fast, Accurate, and Robust LiDAR-Inertial Odometry,” 2026. The Chinese original was published","content_hash":"9d6b9e1f89d8a98755ae89f3f25f6b025b853e4af6a493a4c1c62baf7bdc5aa7","part":1,"length":109},{"id":"chunk-610f9218fe5998dd76","document":10,"title":"Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","heading":"","anchor":"","url":"/en/blog/2026/embodied-ai-control-story/","chain":["Blog","Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story"],"tags":["embodied-ai","control","VLA"],"categories":["opinion"],"text":"A control-and-systems perspective on what gets lost when a pure-CS paradigm and the VLA narrative take the lead in embodied AI.","excerpt":"A control-and-systems perspective on what gets lost when a pure-CS paradigm and the VLA narrative take the lead in embodied AI.","content_hash":"c559218b3fa04e43bf0a6b5e2bd3e0b2fa1810cf488f3552b765fa7519c33fe6","part":1,"length":87},{"id":"chunk-29211777ae8e823ef1","document":10,"title":"Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","heading":"Letting a Pure-CS Paradigm Lead Embodied AI Is Creating a VLA-Shaped Bubble","anchor":"letting-a-pure-cs-paradigm-lead-embodied-ai-is-creating-a-vla-shaped-bubble","url":"/en/blog/2026/embodied-ai-control-story/#letting-a-pure-cs-paradigm-lead-embodied-ai-is-creating-a-vla-shaped-bubble","chain":["Blog","Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","Letting a Pure-CS Paradigm Lead Embodied AI Is Creating a VLA-Shaped Bubble"],"tags":["embodied-ai","control","VLA"],"categories":["opinion"],"text":"Treating actions as just another kind of token, and treating control as an inconvenience that data scaling can bypass, may be the most expensive misconception in this field. Let me begin with a disclaimer. I am not looking down on computer science, nor am I trying to create a divide between disciplines. This is simply a discussion about cognitive paradigms and real-world systems engineering. For a long time, I held a rather naïve belief: if they were willing to study control seriously, most people coming from a pure-CS background—whether they had worked on back-end systems, programming contests, visual recognition, or large-model training—could move into robot control, autonomous-driving decision-making, or even control-theory research without much difficulty.","excerpt":"Treating actions as just another kind of token, and treating control as an inconvenience that data scaling can bypass, may be the most expensive misconception in this field. Let me begin with a disclaimer. I am not looki","content_hash":"05dd5eaed99e3377d9dfa6395c385f08e1890a81f0521076ee5998741e56dcb0","part":1,"length":208},{"id":"chunk-311ce1afe88bfee2e4","document":10,"title":"Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","heading":"Letting a Pure-CS Paradigm Lead Embodied AI Is Creating a VLA-Shaped Bubble","anchor":"letting-a-pure-cs-paradigm-lead-embodied-ai-is-creating-a-vla-shaped-bubble","url":"/en/blog/2026/embodied-ai-control-story/#letting-a-pure-cs-paradigm-lead-embodied-ai-is-creating-a-vla-shaped-bubble","chain":["Blog","Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","Letting a Pure-CS Paradigm Lead Embodied AI Is Creating a VLA-Shaped Bubble"],"tags":["embodied-ai","control","VLA"],"categories":["opinion"],"text":"After intensive study of control theory, hands-on robot debugging, and countless cross-disciplinary conversations about first principles, I realized that I was wrong. I have had to accept an uncomfortable reality. The basic way many people with pure-CS backgrounds understand the world can clash with the rigorous framework that colleagues in automation, mechanical engineering, and robotics build around “physical systems—dynamic evolution—feedback loops.” The resulting cognitive friction is real and difficult to eliminate.","excerpt":"After intensive study of control theory, hands-on robot debugging, and countless cross-disciplinary conversations about first principles, I realized that I was wrong. I have had to accept an uncomfortable reality. The ba","content_hash":"cba349a62ff5900d7391c6783eb5398dbaa1464a3ad217256896cc3f0e7c495f","part":1,"length":163},{"id":"chunk-911575eca40b54583b","document":10,"title":"Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","heading":"Letting a Pure-CS Paradigm Lead Embodied AI Is Creating a VLA-Shaped Bubble","anchor":"letting-a-pure-cs-paradigm-lead-embodied-ai-is-creating-a-vla-shaped-bubble","url":"/en/blog/2026/embodied-ai-control-story/#letting-a-pure-cs-paradigm-lead-embodied-ai-is-creating-a-vla-shaped-bubble","chain":["Blog","Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","Letting a Pure-CS Paradigm Lead Embodied AI Is Creating a VLA-Shaped Bubble"],"tags":["embodied-ai","control","VLA"],"categories":["opinion"],"text":"In everyday discussions, they are often the ones who first bring up robotics or autonomous driving. Yet as soon as the conversation moves beyond “which model did you use, how large is the network, and what score did the dataset reach” toward system dynamics, state estimation, stability, observability, real-time constraints, and closed-loop safety, I often see the habits of pure-CS thinking begin to retreat from the problem. To fill that gap, people instinctively reach for generalized language borrowed from paper abstracts or promotional writing, flattening the actual complexity: “end-to-end learning will discover it automatically,” “with enough data you no longer need models,” “Transformers can unify everything,” or “isn’t the controller just an MLP at the end?”","excerpt":"In everyday discussions, they are often the ones who first bring up robotics or autonomous driving. Yet as soon as the conversation moves beyond “which model did you use, how large is the network, and what score did the ","content_hash":"fba84e939a7a64532472fbd50461f9251c0ee6fba56af849ac37c90cdfa725c8","part":1,"length":207},{"id":"chunk-ec1181006280d17c5a","document":10,"title":"Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","heading":"Letting a Pure-CS Paradigm Lead Embodied AI Is Creating a VLA-Shaped Bubble","anchor":"letting-a-pure-cs-paradigm-lead-embodied-ai-is-creating-a-vla-shaped-bubble","url":"/en/blog/2026/embodied-ai-control-story/#letting-a-pure-cs-paradigm-lead-embodied-ai-is-creating-a-vla-shaped-bubble","chain":["Blog","Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","Letting a Pure-CS Paradigm Lead Embodied AI Is Creating a VLA-Shaped Bubble"],"tags":["embodied-ai","control","VLA"],"categories":["opinion"],"text":"The hard technical reality is that dynamics constraints, sensor noise, actuator latency, friction, saturation, modeling error, and closed-loop stability cannot be made to disappear through narrative. The pure-CS and internet-algorithm paradigm is built around discrete inputs, static datasets, explicit loss functions, and reproducible offline evaluation. The control-and-robotics paradigm deals with continuous time, dynamic evolution, feedback loops, physical constraints, and uncertainty everywhere. In an offline dataset, one bad prediction might lower accuracy by a fraction of a point. In a real closed-loop system, one sampling period of latency, one incorrect sign, one wrong coordinate transformation, or one overlooked actuator saturation can send the entire system directly from stable operation into divergence.","excerpt":"The hard technical reality is that dynamics constraints, sensor noise, actuator latency, friction, saturation, modeling error, and closed-loop stability cannot be made to disappear through narrative. The pure-CS and inte","content_hash":"868077b1fde4f0d6593a56a25ebca00ac4231450d6f288fecebee2876846bb82","part":1,"length":200},{"id":"chunk-f7da68df3bd4228486","document":10,"title":"Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","heading":"Letting a Pure-CS Paradigm Lead Embodied AI Is Creating a VLA-Shaped Bubble","anchor":"letting-a-pure-cs-paradigm-lead-embodied-ai-is-creating-a-vla-shaped-bubble","url":"/en/blog/2026/embodied-ai-control-story/#letting-a-pure-cs-paradigm-lead-embodied-ai-is-creating-a-vla-shaped-bubble","chain":["Blog","Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","Letting a Pure-CS Paradigm Lead Embodied AI Is Creating a VLA-Shaped Bubble"],"tags":["embodied-ai","control","VLA"],"categories":["opinion"],"text":"Using the mindset of static prediction to understand dynamic control is, in my view, bound to produce repeated misunderstandings.","excerpt":"Using the mindset of static prediction to understand dynamic control is, in my view, bound to produce repeated misunderstandings.","content_hash":"4778299268ef6be4581605b5c01c55ddd549121b34dc58d01e4e4b38cac5025c","part":1,"length":109},{"id":"chunk-6ce2064a1f2ea1a017","document":10,"title":"Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","heading":"A Provocative Claim: Much of Today’s VLA Narrative Is a Story for Investors Who Do Not Understand Control","anchor":"a-provocative-claim-much-of-todays-vla-narrative-is-a-story-for-investors-who-do-not-understand-control","url":"/en/blog/2026/embodied-ai-control-story/#a-provocative-claim-much-of-todays-vla-narrative-is-a-story-for-investors-who-do-not-understand-control","chain":["Blog","Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","A Provocative Claim: Much of Today’s VLA Narrative Is a Story for Investors Who Do Not Understand Control"],"tags":["embodied-ai","control","VLA"],"categories":["opinion"],"text":"I know this statement will draw criticism, but I still think it needs to be said. The most heavily promoted VLA work in the current wave of embodied AI often looks less like a control technology being deployed and more like a narrative tailored for fundraising. VLA reframes “vision + language + proprioceptive state → action” as a large-scale sequence-modeling problem. The implication is that, given a large enough model and enough data, robot control can be “learned end to end” in the same way as a large language model.","excerpt":"I know this statement will draw criticism, but I still think it needs to be said. The most heavily promoted VLA work in the current wave of embodied AI often looks less like a control technology being deployed and more l","content_hash":"7320a0898c117e3ac5366c63392ae9fd4b963458face82d8418a31142ade732a","part":1,"length":191},{"id":"chunk-8a4a15d9986f1002af","document":10,"title":"Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","heading":"A Provocative Claim: Much of Today’s VLA Narrative Is a Story for Investors Who Do Not Understand Control","anchor":"a-provocative-claim-much-of-todays-vla-narrative-is-a-story-for-investors-who-do-not-understand-control","url":"/en/blog/2026/embodied-ai-control-story/#a-provocative-claim-much-of-todays-vla-narrative-is-a-story-for-investors-who-do-not-understand-control","chain":["Blog","Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","A Provocative Claim: Much of Today’s VLA Narrative Is a Story for Investors Who Do Not Understand Control"],"tags":["embodied-ai","control","VLA"],"categories":["opinion"],"text":"The most compelling feature of this narrative is not necessarily how correct it is, but how easy it is to sell. It repackages a closed-loop control problem that control and robotics researchers have worked on for decades—and still have not fully solved—as a scaling problem that can supposedly be overcome with enough money and data. Money and compute are precisely what investors can provide. A decades-old engineering challenge is translated into a growth story that investors can understand and are willing to fund. There are several very simple tests for distinguishing technology from rhetoric:","excerpt":"The most compelling feature of this narrative is not necessarily how correct it is, but how easy it is to sell. It repackages a closed-loop control problem that control and robotics researchers have worked on for decades","content_hash":"cf493b12d53ae108d6e5759b9a90eb63e1f3311c895ddc088cea6c556fa4e001","part":1,"length":200},{"id":"chunk-de15addd0976dd0e79","document":10,"title":"Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","heading":"A Provocative Claim: Much of Today’s VLA Narrative Is a Story for Investors Who Do Not Understand Control","anchor":"a-provocative-claim-much-of-todays-vla-narrative-is-a-story-for-investors-who-do-not-understand-control","url":"/en/blog/2026/embodied-ai-control-story/#a-provocative-claim-much-of-todays-vla-narrative-is-a-story-for-investors-who-do-not-understand-control","chain":["Blog","Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","A Provocative Claim: Much of Today’s VLA Narrative Is a Story for Investors Who Do Not Understand Control"],"tags":["embodied-ai","control","VLA"],"categories":["opinion"],"text":"First, look at what it shows you. Fundraising shows edited demo videos and carefully arranged tabletop scenes in a laboratory. Deployment is about closed-loop reliability that does not fail, 24 hours a day, seven days a week. The gap between one selected successful grasp and a system that can run for a week in an open environment without collision, dropping objects, or losing stability is not a few percentage points; it is the whole discipline of control engineering. A pitch deck will almost always show the former.","excerpt":"First, look at what it shows you. Fundraising shows edited demo videos and carefully arranged tabletop scenes in a laboratory. Deployment is about closed-loop reliability that does not fail, 24 hours a day, seven days a ","content_hash":"f4b4214e7e5864c05ee9b8bc537f4165946864e7cf92c35bb60f341779a64e41","part":1,"length":191},{"id":"chunk-378b9a047ed4433b29","document":10,"title":"Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","heading":"A Provocative Claim: Much of Today’s VLA Narrative Is a Story for Investors Who Do Not Understand Control","anchor":"a-provocative-claim-much-of-todays-vla-narrative-is-a-story-for-investors-who-do-not-understand-control","url":"/en/blog/2026/embodied-ai-control-story/#a-provocative-claim-much-of-todays-vla-narrative-is-a-story-for-investors-who-do-not-understand-control","chain":["Blog","Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","A Provocative Claim: Much of Today’s VLA Narrative Is a Story for Investors Who Do Not Understand Control"],"tags":["embodied-ai","control","VLA"],"categories":["opinion"],"text":"Second, look at what it measures. “Action-prediction accuracy” and “task success rate” above 90% in carefully staged settings sound impressive. But the measures that actually determine whether a robot is usable—mean time between closed-loop failures, safety margins in out-of-distribution states, error accumulation over long rollouts, and whether contact forces lead to slip—are difficult, unflattering, and hard to optimize. You almost never see them in fundraising material. Selective reporting is not itself fraud, but reporting only metrics that say little about real reliability is difficult to dismiss as accidental.","excerpt":"Second, look at what it measures. “Action-prediction accuracy” and “task success rate” above 90% in carefully staged settings sound impressive. But the measures that actually determine whether a robot is usable—mean time","content_hash":"3d335a9a4ee5bdc8645563a20e26200eacbf614b91023306335e70f600276123","part":1,"length":194},{"id":"chunk-dd0665240bcd1855d3","document":10,"title":"Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","heading":"A Provocative Claim: Much of Today’s VLA Narrative Is a Story for Investors Who Do Not Understand Control","anchor":"a-provocative-claim-much-of-todays-vla-narrative-is-a-story-for-investors-who-do-not-understand-control","url":"/en/blog/2026/embodied-ai-control-story/#a-provocative-claim-much-of-todays-vla-narrative-is-a-story-for-investors-who-do-not-understand-control","chain":["Blog","Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","A Provocative Claim: Much of Today’s VLA Narrative Is a Story for Investors Who Do Not Understand Control"],"tags":["embodied-ai","control","VLA"],"categories":["opinion"],"text":"Third, look at how it explains failure. Real engineering identifies a cause: state estimation drifted, actuator latency exceeded a limit, or the controller became unstable in a particular operating regime. A fundraising narrative has only one explanation: “the next model will fix it” or “one more order of magnitude of data will solve it.” Falsification is systematically postponed until after the next funding round. A technical promise that can never be falsified and always places its answer in “bigger and more” is cognitively similar to a Ponzi structure: new money is needed to preserve the credibility of the previous story. I am not saying that everyone working on VLA is deceiving people. Most researchers are sincere, and VLA has genuinely brought open-world semantic understanding to robots at a level that was previously missing. My point is this:","excerpt":"Third, look at how it explains failure. Real engineering identifies a cause: state estimation drifted, actuator latency exceeded a limit, or the controller became unstable in a particular operating regime. A fundraising ","content_hash":"36d51209d5fc859b168a20c8762043c620b452bc87ff79b2aad906f00230b05e","part":1,"length":241},{"id":"chunk-e1b10b2155f19f413a","document":10,"title":"Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","heading":"A Provocative Claim: Much of Today’s VLA Narrative Is a Story for Investors Who Do Not Understand Control","anchor":"a-provocative-claim-much-of-todays-vla-narrative-is-a-story-for-investors-who-do-not-understand-control","url":"/en/blog/2026/embodied-ai-control-story/#a-provocative-claim-much-of-todays-vla-narrative-is-a-story-for-investors-who-do-not-understand-control","chain":["Blog","Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","A Provocative Claim: Much of Today’s VLA Narrative Is a Story for Investors Who Do Not Understand Control"],"tags":["embodied-ai","control","VLA"],"categories":["opinion"],"text":"When a technology that is still far from solving closed-loop reliability is packaged as a disruptive claim that “end-to-end systems will soon replace state estimation, motion planning, and feedback control,” and that claim is used to unlock enormous funding, the narrative has quietly shifted from serving robotics to serving fundraising itself. The people most likely both to create and believe this story are often those whose intuition was trained only on static datasets and who have never been punished by divergence or collisions in a real feedback loop. Within that cognitive paradigm, “predicting accurately” and “controlling successfully” are assumed to be the same thing. That assumption is where the entire misunderstanding begins.","excerpt":"When a technology that is still far from solving closed-loop reliability is packaged as a disruptive claim that “end-to-end systems will soon replace state estimation, motion planning, and feedback control,” and that cla","content_hash":"307898994306d38c4bf8e4a7ac5f99895085d859ec35f429c2ce32ecb4fb6a75","part":1,"length":216},{"id":"chunk-f6bd675e7ad3f63690","document":10,"title":"Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","heading":"First Principles Are Not a Slogan for a Business Presentation","anchor":"first-principles-are-not-a-slogan-for-a-business-presentation","url":"/en/blog/2026/embodied-ai-control-story/#first-principles-are-not-a-slogan-for-a-business-presentation","chain":["Blog","Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","First Principles Are Not a Slogan for a Business Presentation"],"tags":["embodied-ai","control","VLA"],"categories":["opinion"],"text":"This cognitive friction is especially visible in the way people use the term “first principles.” When many CS and AI practitioners discuss first-principles thinking, the same associations appear: Elon Musk, breaking a problem down, end-to-end learning, and letting the model discover the rules. A concept rooted in physical modeling and axiomatic reasoning is reduced to a business method or a slogan for the era of large models.","excerpt":"This cognitive friction is especially visible in the way people use the term “first principles.” When many CS and AI practitioners discuss first-principles thinking, the same associations appear: Elon Musk, breaking a pr","content_hash":"381e490609dbc61e3ff07dc063935750f396f278707480c5321adfcfa61450a9","part":1,"length":153},{"id":"chunk-092b8d29a74405f61f","document":10,"title":"Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","heading":"First Principles Are Not a Slogan for a Business Presentation","anchor":"first-principles-are-not-a-slogan-for-a-business-presentation","url":"/en/blog/2026/embodied-ai-control-story/#first-principles-are-not-a-slogan-for-a-business-presentation","chain":["Blog","Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","First Principles Are Not a Slogan for a Business Presentation"],"tags":["embodied-ai","control","VLA"],"categories":["opinion"],"text":"What do first principles mean for a control system? To me, they mean starting from Newton–Euler equations, rigid-body kinematics, conservation of energy, circuit laws, and system constraints; constructing a mathematical model that can describe the real object; and then rigorously analyzing equilibrium, controllability, observability, stability, robustness, and optimality. An inverted pendulum does not balance because a neural network “understands” equilibrium. A race car does not take a corner at high speed merely because a model has seen enough turns in a dataset. Without systematic training in classical control, modern control, signals and systems, dynamics, and state estimation—and without wrestling repeatedly with Laplace transforms, state space, Lyapunov stability, and the mathematics of nonlinear systems—the claim that a model will “learn control by itself” is a structure built on","excerpt":"What do first principles mean for a control system? To me, they mean starting from Newton–Euler equations, rigid-body kinematics, conservation of energy, circuit laws, and system constraints; constructing a mathematical ","content_hash":"1a3922e63073b46d2e85ba7837cb97e11c7c28137b5f185079aee66f0908df4a","part":1,"length":216},{"id":"chunk-09e39bdd728020cc7b","document":10,"title":"Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","heading":"First Principles Are Not a Slogan for a Business Presentation","anchor":"first-principles-are-not-a-slogan-for-a-business-presentation","url":"/en/blog/2026/embodied-ai-control-story/#first-principles-are-not-a-slogan-for-a-business-presentation","chain":["Blog","Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","First Principles Are Not a Slogan for a Business Presentation"],"tags":["embodied-ai","control","VLA"],"categories":["opinion"],"text":"the limited support of a finite data distribution.","excerpt":"the limited support of a finite data distribution.","content_hash":"fba729e749e14e242e5ff4319fbbd302ac33c6fca1161768951268df8702378a","part":2,"length":94},{"id":"chunk-7aab6cc00a651b3b6a","document":10,"title":"Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","heading":"First Principles Are Not a Slogan for a Business Presentation","anchor":"first-principles-are-not-a-slogan-for-a-business-presentation","url":"/en/blog/2026/embodied-ai-control-story/#first-principles-are-not-a-slogan-for-a-business-presentation","chain":["Blog","Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","First Principles Are Not a Slogan for a Business Presentation"],"tags":["embodied-ai","control","VLA"],"categories":["opinion"],"text":"Claims that there is no barrier between AI and robotics often confuse learning engineering tools with rebuilding one’s underlying intuition. Using PyTorch, training a perception model, changing a network architecture, and running open-source code are closer to a framework and workflow; with intensive training, a pure-CS practitioner can absolutely master them. Work at the deeper and more advanced layers—nonlinear control, model predictive control, state estimation, real-time optimization, robust control, and genuine closed-loop learning in embodied systems—requires strong intuition about system state, dynamic response, time and frequency domains, noise propagation, physical constraints, and stability margins.","excerpt":"Claims that there is no barrier between AI and robotics often confuse learning engineering tools with rebuilding one’s underlying intuition. Using PyTorch, training a perception model, changing a network architecture, an","content_hash":"ab7f131ce86bbf2778690b2b3f5e327f537caafa055b616f327637322e841cfd","part":1,"length":183},{"id":"chunk-aa8126bfaa6acbf6e4","document":10,"title":"Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","heading":"First Principles Are Not a Slogan for a Business Presentation","anchor":"first-principles-are-not-a-slogan-for-a-business-presentation","url":"/en/blog/2026/embodied-ai-control-story/#first-principles-are-not-a-slogan-for-a-business-presentation","chain":["Blog","Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","First Principles Are Not a Slogan for a Business Presentation"],"tags":["embodied-ai","control","VLA"],"categories":["opinion"],"text":"That intuition needs long-term mathematical and engineering training. It may only take shape after watching real systems oscillate, overshoot, diverge, lose stability, and crash again and again. Without that training, beautiful offline metrics and sophisticated narratives may offer little help when the real problem is model mismatch, asynchronous sensors, actuator delay, tire slip, or closed-loop instability. My disillusionment is really a correction to an earlier assumption: that someone skilled in software and algorithms can take a few control courses and naturally cross the foundational gap between “processing information” and “manipulating the physical world.”","excerpt":"That intuition needs long-term mathematical and engineering training. It may only take shape after watching real systems oscillate, overshoot, diverge, lose stability, and crash again and again. Without that training, be","content_hash":"e57dc04ba3fdfb91e7d8e87d473956a5100f985ee2bf85c3b57f55ddd200f366","part":1,"length":179},{"id":"chunk-a62f4996f9947e65c0","document":10,"title":"Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","heading":"First Principles Are Not a Slogan for a Business Presentation","anchor":"first-principles-are-not-a-slogan-for-a-business-presentation","url":"/en/blog/2026/embodied-ai-control-story/#first-principles-are-not-a-slogan-for-a-business-presentation","chain":["Blog","Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","First Principles Are Not a Slogan for a Business Presentation"],"tags":["embodied-ai","control","VLA"],"categories":["opinion"],"text":"Of course, the incompatibility runs in both directions. Someone trained only in classical control, with no systematic background in computer science, may be equally naïve when asked to design a large-scale distributed system, optimize a CUDA kernel, analyze a compiler, build a foundation model, or process data at massive scale. They may fall into their own version of “just add a PID controller.”","excerpt":"Of course, the incompatibility runs in both directions. Someone trained only in classical control, with no systematic background in computer science, may be equally naïve when asked to design a large-scale distributed sy","content_hash":"4d59a43e6d1f02bafdc33ad9e4479ad4feb124e6f701c46b6e57835a8adb582d","part":1,"length":150},{"id":"chunk-e93b14aca0bfc4e49b","document":10,"title":"Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","heading":"First Principles Are Not a Slogan for a Business Presentation","anchor":"first-principles-are-not-a-slogan-for-a-business-presentation","url":"/en/blog/2026/embodied-ai-control-story/#first-principles-are-not-a-slogan-for-a-business-presentation","chain":["Blog","Pure CS Is Turning an Embodied-AI Control Problem into a Funding Story","First Principles Are Not a Slogan for a Business Presentation"],"tags":["embodied-ai","control","VLA"],"categories":["opinion"],"text":"The rational response is neither to argue that one discipline is superior nor to deny all of VLA’s value. It is to respect the gap between paradigms and recognize their boundaries. Computer science excels at building computational systems, processing information, and scaling algorithms. Control and automation excel at describing dynamic worlds, managing feedback and constraints, and keeping systems stable under uncertainty. Different cognitive strengths should be applied where they belong, rather than using one fundraising narrative to conceal the hard constraints that another discipline has spent decades confronting. The Chinese original was published on Zhihu on June 10, 2026, and republished on June 26, 2026 by 具身智能之心 TechDaily, the embodied-AI platform launched by 自动驾驶之心.","excerpt":"The rational response is neither to argue that one discipline is superior nor to deny all of VLA’s value. It is to respect the gap between paradigms and recognize their boundaries. Computer science excels at building com","content_hash":"caa38af71662c0b6c3f7926bbacddaa83a4f7a718bfa34e5a84d80de38336dad","part":1,"length":209},{"id":"chunk-9d592636c92e929617","document":11,"title":"blog","heading":"","anchor":"","url":"/en/blog/index.html","chain":["Blog","blog"],"tags":[],"categories":[],"text":"blog","excerpt":"blog","content_hash":"def53e95f1fc7a2aa7dbc4685f282f1e3e4ea3b364b07622e58edb15d239b252","part":1,"length":8},{"id":"chunk-25eb8c8d440452601b","document":12,"title":"bookshelf","heading":"","anchor":"","url":"/en/books/","chain":["bookshelf"],"tags":[],"categories":[],"text":"What an astonishing thing a book is. It’s a flat object made from a tree with flexible parts on which are imprinted lots of funny dark squiggles. But one glance at it and you’re inside the mind of another person, maybe somebody dead for thousands of years. Across the millennia, an author is speaking clearly and silently inside your head, directly to you. Writing is perhaps the greatest of human inventions, binding together people who never knew each other, citizens of distant epochs. Books break the shackles of time. A book is proof that humans are capable of working magic. – Carl Sagan, Cosmos, Part 11: The Persistence of Memory (1980)","excerpt":"What an astonishing thing a book is. It’s a flat object made from a tree with flexible parts on which are imprinted lots of funny dark squiggles. But one glance at it and you’re inside the mind of another person, maybe s","content_hash":"920e3f271177992e3238eb8a140e96959a42301d87a7d9b79596549952a13a9f","part":1,"length":117},{"id":"chunk-c12755138cc1debc82","document":13,"title":"The Godfather","heading":"","anchor":"","url":"/en/books/the-godfather/","chain":["Books","The Godfather"],"tags":["top-100"],"categories":["classics","crime","historical-fiction","mystery","novels","thriller"],"text":"Lorem ipsum dolor sit amet, consectetur adipiscing elit. Cras sollicitudin eros sit amet ante aliquet, sit amet vulputate lectus mattis. Aenean ullamcorper pretium nunc, sed egestas lorem elementum id. Nulla id mi id neque ultrices egestas ut in urna. Sed ac ultricies nunc. Nam convallis placerat urna id egestas. Nulla porta, est interdum vestibulum venenatis, lorem odio laoreet sapien, in pulvinar tellus eros a dolor. Vivamus sapien justo, ullamcorper a mi eget, scelerisque euismod nunc. In augue augue, ultrices a ornare non, tincidunt quis justo. Donec sit amet consectetur eros. Nullam neque leo, tincidunt id ipsum ac, volutpat lobortis mi. Phasellus consequat ultricies arcu, eu semper ligula ultrices eget. Ut in fringilla elit, ac tincidunt nisi.","excerpt":"Lorem ipsum dolor sit amet, consectetur adipiscing elit. Cras sollicitudin eros sit amet ante aliquet, sit amet vulputate lectus mattis. Aenean ullamcorper pretium nunc, sed egestas lorem elementum id. 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