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It seems robotics has advanced more in the last 3 years than the previous 20.

the torrent of funding helps here

The vision language action models and the two level slow planning and fast control LLMs seem to be a big breakthrough.

ML helps here and the progress Nvidia made with their robotics platform.

But mostly OpenCV, in its excellent C++ and python variants. Not everything is modern ML heuristics, some classic AI is also needed still.