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Н Новости

Как я загрузил компактную открытую LLM в робота и сказал ему ходить (пока только в симуляции)

Снаружи глупенький котенок, внутри машина для ~~убийств~~ езды и хватания кубов

Без лишних предисловий приступаем.

Все артефакты: веса на Hugging Face и исходники на Codeberg, как обычно будет приложены в конце статьи.

О чем статья?

Расскажу, как я обучил языковую модель gemma-3 на 270 млн параметров (от Google) управлять гусеничным роботом с робо-рукой в среде Mujoco, через команды на естественном языке от человека.

Он может свободно перемещаться по карте, идти вперед и назад, поворачиваться влево-вправо, хватать и опускать предметы.

Ниже будет приложена видео-демонстрация длиной 1 минуту.

Видео-демонстрация, в конце робот случайно уехал за кадр

Как возникла идея?

У меня лежит дома DIY-набор гусеничного робота с робо-клешней, и когда я познакомился с моделью gemma-3-270m, которая удивительно хорошо соображает для своего размера - у меня возникла идея ее туда загрузить и заставить этим роботом управлять.

А вот и DIY-набор гусеничного робота с клешней

Эта модель, по моим расчетам, без проблем влезла бы в Raspberry Pi Zero 2 W. Идея заключалась в том чтобы сделать интеллектуального робота, который может передвигаться по командам человека, описанными в свободной форме, навроде:

"поверни налево"
"пройди вперед на 10 метров"
"подними коробку"

Но перед тем как копаться в железе, стоило проверить возможности самой модели, благо все это можно проверить заранее в симуляции, об этом и будет статья.

Начинаем эксперименты

Для начала стоило проверить, как дефолтный Gemma-3-270m без файнтюнинга справляется с соблюдением инструкции.

User:
You are a robot controller. Convert user commands to JSON.
Available actions:
 - {"action": "move", "direction": "forward|backward", "distance_cm":
 - {"action": "rotate", "direction": "left|right", "angle_deg":
 - {"action": "pick_up", "target": "
 - {"action": "place", "target": "
 - {"action": "stop"}
Output only JSON, no explanations. Now just say Ready, and then the commands will follow.

Model: Ready
User:  Command: drive forward 30 centimeters
Model: Drive forward 30 centimeters.
User:  Are you idiot?
Model: No.

Как вы можете судить по этому тарантиновскому диалогу - модель с задачей справляется не очень. Нужен файн-тюнинг.

Помимо самой модели, нужно было определиться со средой, где модель будет действовать.

Выбор пал на Mujoco - отличный симулятор для роботехники, физика там не такая реалистичная, как в Isaac Sim от NVIDIA, но при этом все летает на обычном ноутбуке, плюсом я уже был знаком с ним по моим прошлым пет-проектам.

На сайте документации Mujoco можно иногда увидеть поистине странные вещи...

Насчет языка команд тоже думать долго не пришлось. Gemma-3-270m очень маленькая модель, которая лучше всего работает с английским текстом, нет смысла "напрягать" ее веса еще для того чтобы лучше понимать русский язык, может получиться так, что ей не хватит места для всего сразу. Так что язык для команд будет чисто английский.

Датасет будет генерироваться синтетический, через доступные на OpenRouter бесплатно мощные модели gpt-oss-120b (от OpenAI) и nemotron-super-120b (от NVIDIA).

По итогу нашу начальную цель можно сформулировать так

Зафайнтюнить Gemma-3 270M на трансляцию английских команд в валидный JSON, управляющий гусеничным роботом в MuJoCo, на основе синтетического датасета, сгенерированного моделями gpt-oss-120b и nemotron-super-120b.
Эксперимент будет разделен на 2 фазы.
1 фаза: создание гусеничного робота в Mujoco, без руки и создание синтетического датасета для его управления, обучение gemma-3 270M на основе этого датасета, проверка обученной модели в симуляции.
2 фаза: добавление к созданному в Mujoco гусеничному роботу конечности-клешни, добавление двух новых действий - поднять и опустить, генерация дополненного синтетического датасета где будут описаны эти действия, повторный файн-тюнинг модели, повторная проверка обученной модели в симуляции с новыми действиями.

1 фаза - Генерируем синтетический датасет

Цель шага: получить пары {"instruction": <англ. текст>, "output": <JSON команд>}, на которых дообучается Gemma-3-270M.

Источник — синтетика: ~70 ручных примеров → инфляция крупной моделью (120B) через OpenRouter → жёсткая валидация по JSON Schema.

1. Реальный промпт генератора (что уходит в модель-генератор синтетики)

Воспроизводится командой python -m dataset_gen.generate --dry-run.

SYSTEM (схема + правила)

Начинается полной JSON Schema, для примера будет взят отрывок схемы движения (назад-вперед):

{
  "type": "object", "required": ["commands"],
  "properties": {"commands": {"type": "array",
    "items": {"$ref": "#/definitions/command"}}},
  "definitions": {
    "command": {"oneOf": [
      {"$ref": "#/definitions/move"}, {"$ref": "#/definitions/turn"},
      {"$ref": "#/definitions/stop"}, {"$ref": "#/definitions/wait"},
      {"$ref": "#/definitions/grasp"}, {"$ref": "#/definitions/release"}
    ]},
    "move": {"required": ["action","direction","distance_m"],
      "properties": {"action": {"const": "move"},
        "direction": {"enum": ["forward","backward"]},
        "distance_m": {"type": "number", "exclusiveMinimum": 0,
                       "maximum": 100},
        "speed": {"enum": ["slow","normal","fast"]}}}
  }
}

Затем — текстовые правила:

ROLE: You translate ONE English natural-language instruction for a
tracked robot into a JSON object that strictly validates against the
schema above.

HARD RULES:
- Output ONLY the JSON object, no prose, no markdown fences.
- Always wrap commands in {"commands": [ ... ]}.
- distance_m and angle_deg are ALWAYS positive; sign via "direction".
- "speed" optional enum (slow|normal|fast) — only if pace implied.
- left = counter-clockwise (CCW). right = clockwise (CW).

INTERPRETATION CONVENTIONS:
- Distance: unspecified -> 1.0 m; "a bit"/"a little" -> 0.5;
  "a touch"/"slightly" -> 0.3; "a meter and a half" -> 1.5;
  word numbers -> the number ("two" -> 2.0).
- Angle: "quarter turn" -> 90; "half turn"/"turn around" -> 180;
  "full turn"/"360"/"spin around" -> 360. Unstated dir -> "right".
- Speed: slowly/creep/gently -> "slow"; quickly/fast/rush -> "fast".
- "stop"/"halt"/"freeze" -> [{"action":"stop"}].
- "wait/pause for N seconds" -> [{"action":"wait","duration_s":N}].
- Multi-step ("X then Y") -> ordered list.

USER (пример + задание)

EXAMPLES (format reference, do not copy):
{"instruction": "turn left then pick up the cube", "output":
 {"commands": [{"action":"turn","direction":"left","angle_deg":90},
               {"action":"grasp"}]}}
{"instruction": "put it down", "output":
 {"commands": [{"action":"release"}]}}
{"instruction": "do a half turn", "output":
 {"commands": [{"action":"turn","direction":"right","angle_deg":180}]}}

TASK: Produce 8 NEW and DIVERSE training pairs. Vary phrasing heavily:
imperative, polite, terse, conversational, robotic, with/without
units, word-numbers vs digits, multi-step, and include some
out-of-scope/nonsense mapped to {"commands": []}. Do NOT copy the
examples verbatim.

Return ONLY a JSON array; each element:
  {"instruction": "<english text>", "output": <command object>}

Пример берётся случайной выборкой (--fewshot N), поэтому каждый батч видит разные примеры → разнообразие.

2. Механика пайплайна (dataset_gen/generate.py)

build_messages() собирает SYSTEM+USER (см. выше), few-shot случайно из сидов.
POST в OpenRouter (stdlib urllib, без зависимостей). Ротация двух 120B: openai/gpt-oss-120b:free ↔ nvidia/nemotron-3-super-120b-a12b:free.
Ответ → вытащить JSON-массив → для КАЖДОЙ пары jsonschema валидация по той же схеме → дедуп по нормализованной инструкции → дозапись в JSONL.

3. Итоговый датасет (data/dataset.jsonl)

Всего примеров (пар инструкция→JSON): 2505

Команды по типу (суммарно по всем командам во всех парах):

действие	кол-во команд
move	1938
turn	1133
wait	456
stop	281

По итогу 4 действия. Разберем некоторые из них, и модификаторы к ним, более подробно.

wait - ожидание в секундах

Команда wait имеет параметр duration_s, где модель выставляет ожидание в секундах, ничего сложного. Для примера разберем такую последовательность команд из датасета.

"Move backward one meter, then pause for three seconds, then move forward one meter"
  -> [{"action":"move","direction":"backward","distance_m":1.0},
      {"action":"wait","duration_s":3},
      {"action":"move","direction":"forward","distance_m":1.0}]

turn — поворот корпуса на месте

Одно из 4 действий Phase-1. Робот разворачивается вокруг себя (diff-drive: борта крутятся встречно), меняя курс (yaw) на заданный угол. В отличие от move (поступательное вперёд/назад), turn — только вращение.

Схема:

{"action":"turn",
 "direction":"left"|"right",   // left = CCW (ω>0), right = CW
 "angle_deg": >0 и ≤360,       // всегда положительный, знак — в direction
 "speed": "slow"|"normal"|"fast"   // опционально
}

Примеры из датасета: "turn left 90 degrees" → {"action":"turn","direction":"left","angle_deg":90}; "Rotate 360 degrees to the left." → angle_deg:360. В Phase-1: 1133 команды turn, 682 пары начинаются с поворота.

Регулировка скорости — опциональный enum speed

Скорость задаётся не числом, а enum'ом {slow, normal, fast} — на move и turn (у stop/wait его нет).

Это сознательное решение: модель не должна угадывать м/с .

«as fast as you can» → ???

Модель ставит speed только если темп подразумевается в тексте («slowly»→slow, «quickly/rush/swiftly»→fast); иначе поле опускается и контроллер берёт normal.

speed	move (линейная)	turn (угловая)
slow	0.2 м/с	0.5 рад/с
normal (default)	0.5 м/с	1.0 рад/с
fast	1.0 м/с	2.0 рад/с

В датасете часть команд несёт явный speed, остальные — без поля, подразумевается скорость normal.

Пример из данных: "turn left ninety degrees then creep back 0.5 meters" → [{turn left 90}, {move backward 0.5, "speed":"slow"}] («creep» → slow проставлен только там, где темп указан).

Как вы могли заметить, тут нет информации о карте в принципе, робот является "слепым", это сделано намерено для упрощения, хотя в следующих этапах эксперимента планируется это добавить. Например, для того чтобы робот при словесной команде "подними красный куб" сам мог этот куб найти и поднять.

1 фаза - Делаем танк! В Mujoco.

Только вместо пушки робо-клешня, и нет аниме-женщин

Робот рос из пустого MJCF-файла постепенно: сначала появился мир, потом корпус, колёса, опоры — и только тогда всё это поехало без полета за орбиту, и другие астральные реальности.

Будем делать очевидное упрощение.. Настоящую гусеницу — замкнутую ленту с десятками сегментов нам для эксперимента не нужна, поэтому гусеницы не будут физически достоверными..

Вместо них — дифференциальный привод: два ведущих колеса, по одному на каждый борт, каждое со своим актуатором скорости. Поворот получается за счёт разницы скоростей бортов, ровно как у настоящего гусеничного шасси.

Мир и пол

Начинается всё с физических настроек сцены (в XML формате):

<option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>

Помимо глобальных настроек есть настройки пола конкретно

<geom name="floor" type="plane" size="0 0 0.05" material="grid"
      friction="1.0 0.005 0.0001"/>

Разберем все 6 параметров по порядку

timestep=“0.002”

Шаг 0.002 с — это 500 Гц, привычная частота для симуляции с контактами: меньше — начинает «дёргаться» на касаниях колёс.

gravity=“0 0 -9.81”

Это вектор гравитации — три числа задают, в какую сторону и насколько сильно всё притягивается.

Три числа — это направление по осям X, Y, Z (вперёд, вбок, вверх).
0 0 -9.81 значит: по X и Y притяжения нет, а вдоль Z — −9.81.
9.81 — это ускорение свободного падения на Земле, 9.81 м/с² (то самое «g» из школьной физики).
Минус — потому что ось Z у нас смотрит вверх, а гравитация тянет вниз. Поэтому значение отрицательное: «вниз по Z с силой 9.81».

Проще говоря — это строчка «включить нормальную земную гравитацию, тянущую к полу». Если бы написали 0 0 0 — робот висел бы в невесомости; 0 0 -1.62 — была бы Луна; а 0 0 -9.81 — обычная Земля.

integrator=“implicitfast”

Симулятор не считает движение непрерывно — он идёт маленькими шажками по времени (у нас шаг 0.002 с). На каждом шаге надо ответить на вопрос: «робот сейчас вот тут и движется вот так — где он окажется через один шажок?». Способ, которым движок отвечает на этот вопрос, и называется интегратором.

Явный Эйлер — самый простой способ. Он смотрит только на то, что происходит прямо сейчас, и считает, что весь следующий шажок останется ровно таким же.

Проблема вылезает там, где силы «резкие» — например, жёсткий удар колеса о пол. За один шажок ситуация успевает сильно измениться, а явный Эйлер этого не замечает: он действует по устаревшей картинке. В итоге он не гасит толчок, а раздувает его — робот получает энергию из ниоткуда, начинает трястись, и в худшем случае улетает.

Implicit-интегратор (а implicitfast — его быстрая, облегчённая версия) работает хитрее: он учитывает не только «где робот сейчас», но и «куда он успеет прийти к концу шажка», и подбирает ответ так, чтобы он сам себе не противоречил.

Поэтому с implicitfast симуляция остаётся спокойной даже при жёстких контактах и относительно крупном шаге по времени.

«Fast» в названии — потому что полную implicit-схему считать дорого, и MuJoCo применяет её только к той части сил, где это реально важно (вязкость, к примеру), не пересчитывая всё подряд.

geom name=“floor” type=“plane” size=“0 0 0.05” material=“grid”

Теперь разберем параметры пола (кроме friction, считай трения, он будет ниже)

name="floor" — имя геома, чтобы на него можно было ссылаться (в контактах, исключениях и т.п.).
type="plane" — это бесконечная плоскость, а не плита конечного размера.
size="0 0 0.05" — у плоскости первые два числа игнорируются (она бесконечна), третье — шаг визуальной сетки для отрисовки.
material="grid" — просто внешний вид: клетчатая текстура, чтобы в вьювере было видно движение.

friction=“1.0 0.005 0.0001”

Сам пол — это один плоский геом. Трение у него задаётся не одним числом, а тремя: 1.0, 0.005, 0.0001.

Почему три? Потому что предмет может тереться о поверхность тремя разными способами, и физический движок их считает по отдельности:

Скольжение (1.0) — когда что-то едет по полу, как коробка, которую толкаешь. Здесь трение большое: колёса должны цепляться, а не разъезжаться.
Верчение (0.005) — когда предмет крутится на месте вокруг точки касания. Тут трение почти нулевое — оно нам мешало бы при поворотах.
Качение (0.0001) — сопротивление именно качению, как у мячика, который катится и сам по себе замедляется. Делаем его совсем крошечным, чтобы колесо свободно катилось.

То есть одна цифра отвечает «насколько тяжело проскользнуть», вторая — «насколько тяжело провернуться на месте», третья — «насколько тяжело катиться». Для пола нам нужно: скользить трудно, а вертеться и катиться — легко.

Корпус

Корпус — это body chassis со свободным суставом (freejoint): шесть степеней свободы, робот ничем не прикреплён к миру и может ехать, поворачивать, в худшем случае — падать.
Ставим его на высоту 8.5 см, чтобы колёса именно касались пола, а не висели и не проваливались.

Геометрия — коробка с полуразмерами 0.15 0.08 0.035, то есть габариты 30×16×7 см. Массу и центр тяжести задаем: 2 кг, причём центр масс смещён назад на 2 см. Зачем такой сдвиг - станет понятно ниже, в истории про буксование.

Два ведущих колеса

Каждое колесо — дочернее тело корпуса:

параметр	значение
геометрия	цилиндр, радиус 6 см, полуширина 2 см
ориентация	повёрнут так, чтобы ось смотрела вбок (по Y)
положение	по бортам ±11 см, чуть ниже центра корпуса
сустав	шарнир с вращением вокруг боковой оси
масса	0.3 кг
трение	высокое (`2.0`) — чтобы не проскальзывало

Расстояние между бортами получается ровно 22 см, а эффективный радиус — 6 см.

Две опорные «лыжи»

Робот на двух колёсах сам по себе клевал бы носом или заваливался на корму. Чтобы этого не было, спереди и сзади добавлены две маленькие сферы-опоры (радиус 1.5 см, по 50 г).

Они нарочно сделаны очень скользкими: их задача — не дать роботу опрокинуться, но при этом не тормозить и, главное, не нести на себе вес.

Поэтому они ещё и чуть приподняты над полом — таким образом они почти не касаются его, и всю нагрузку держат колёса.

Приводы

На каждый колёсный сустав — по актуатору скорости:

<velocity joint="wheel_left"  kv="20" ctrlrange="-30 30" forcerange="-6 6"/>
<velocity joint="wheel_right" kv="20" ctrlrange="-30 30" forcerange="-6 6"/>

kv — насколько жёстко привод догоняет заданную угловую скорость. ctrlrange ограничивает саму команду скорости. А вот forcerange здесь — спасение от очень эффектного бага, о котором ниже.

Жёсткие контакты

По умолчанию суставам задано небольшое демпфирование, а контактам — жёсткие, почти непроникающие параметры. Если контакты сделать мягкими, колёса буквально «тонут» в полу и буксуют. Плюс был явно отключен расчёт самопересечений корпуса с колёсами и колёс между собой: эти столкновения физически невозможны.

Битвы с физикой

Все «магические числа» выше появились не сразу — каждое получено своим багом.

Робот-катапульта. Без ограничения по силе робот на первом же шаге улетал: высота 1.27 м, корпус задран почти вертикально. Лечится ограничением момента (forcerange) и более жёсткими контактами.

Все было именно так

Буксование. Сначала опорные сферы стояли вровень с колёсами и забирали на себя часть веса — КПД проседал до 25–50%. Замер всё показал прямо: колёса крутятся на нужной скорости, а корпус почти стоит — чистое проскальзывание.

Лечилось тремя изменениями сразу:

приподнять опоры,
сместить центр тяжести корпуса назад,
поднять трение колесо–пол.

В сумме на колёса легло около 88% веса.

Знак поворота. Банально, но проверять надо: по скоростям из симуляции можно было убедиться, что команда «влево» даёт вращение против часовой стрелки, если смотреть сверху. Совпало со стандартной конвенцией (X — вперёд, Y — влево, Z — вверх), ничего инвертировать не пришлось.

Итог: робот грузится, стоит устойчиво, едет и поворачивает в правильную сторону, а точность разомкнутого управления — приемлемая для дальнейшей работы.

Фаза 1 - Файн-тюним модель

Обучающий датасет и физический модуль, которым модель будет управлять - готовы. Теперь необходимо было обучить и проверить модель.

Для файн-тюнинга был выбран машина предоставляемая Kaggle, он представляет для пользователей 30 бесплатных часов в неделю для ML-экспериментов, на выбор есть T4 x2 (каждая по 16 GB), и P100 (одна, 16 GB).

От P100 пришлось отказаться из-за некоторых проблем с совместимостью, поэтому обучение велось на одной карте NVIDIA T4, чтобы не мучаться с параррельностью, тем более модель была маленькая и не требовала больших ресурсов.

А первый блин оказался комом. Тренировочный пример строился по такому принципу - в КАЖДЫЙ ПРИМЕР помещалась та же JSON-схема, которая использовалась при генерации синтетического датасета.

Сокращённо выглядит так:

JSON SCHEMA (draft-07):
{
  "$schema": "http://json-schema.org/draft-07/schema#",
  "title": "Robot command list",
  "type": "object",
  "additionalProperties": false,
  "required": ["commands"],
  "properties": {
    "commands": { "type": "array", "items": { "$ref": "#/definitions/command" } }
  },
  "definitions": {
    "move": {
      "required": ["action","direction","distance_m"],
      "properties": {
        "action": { "const": "move" },
        "direction": { "enum": ["forward","backward"] },
        "distance_m": { "type": "number", "exclusiveMinimum": 0, "maximum": 100 },
        ...
      }
    },
    "turn": { ... "angle_deg": { "maximum": 360 } ... },
    "stop": { ... }, "wait": { ... }, "grasp": { ... }, "release": { ... }
  }
}

ROLE: You translate ONE English instruction ... into a JSON object that
strictly validates against the schema above.
HARD RULES:
- Output ONLY the JSON object, no prose, no markdown fences.
- distance_m and angle_deg are ALWAYS positive ...
- "speed" is an optional enum (slow|normal|fast) ...
INTERPRETATION CONVENTIONS:
- "quarter turn" -> 90; "turn around" -> 180; "full turn" -> 360 ...
- word numbers -> the number ("two" -> 2.0) ...
   ... (ещё десятки строк правил) ...

---
INSTRUCTION: turn left 90 degrees, then go forward 2 meters

Вся эта простыня — это ~1500 токенов, и она повторяется в каждом из тысяч обучающих примеров, хотя меняется в них только последняя строчка INSTRUCTION: ....

По итогу это привело к тому, что обучение длилось 3.5 часа, и программа упала на ошибке в ячейке с eval, так и не успев сохранить модель.

Снова тратить 3.5 часа не хотелось, поэтому был выбран другой подход - в каждом примере будет помещена только короткая инструкция.

You translate ONE English instruction for a tracked robot with a gripper
arm into a single JSON object {"commands":[...]} using actions: move, turn,
stop, wait, grasp, release. Output ONLY the JSON object, no prose, no
markdown. If the instruction is out of scope or nonsense, output
{"commands": []}.

---
INSTRUCTION: turn left 90 degrees, then go forward 2 meters

Это ~60 токенов вместо полутора тысяч. Никакой схемы, никаких таблиц правил — просто просьба:

«ты переводишь фразу в JSON такого вида, вот список действий, на бессмыслицу отвечай пустым списком».

С таким подходом обучение заняло 30-40 минут. Веса модели были скачаны, осталось протестировать в реальных условиях, точнее в симуляции Mujoco.

Фаза 1 - Тестируем модель

Тестировали как обычно тестируют результаты файнтюна— на отложенной выборке: 10% пар модель при обучении не видела вообще (фиксированный случайный отбор, чтобы результат можно было воспроизвести). Считали несколько метрик, каждая отвечает на свой вопрос:

schema_valid — какая доля ответов вообще является валидным JSON по нашей схеме. Получилось 1.000, то есть 100%.
exact_match — насколько часто ответ совпал с эталонным дословно. 0.920.
action_seq — правильная ли получилась последовательность действий по смыслу, даже если число чуть разошлось (важнее «повернул, потом поехал», чем «ровно 90.0 против 90»). 0.980.
ood_f1 — не выдумывает ли модель команды на бессмыслицу вроде «свари кофе» (правильный ответ — пустой список «ничего не делать»). 0.846.

Но самая важная проверка — последняя. Все предыдущие метрики сравнивают тексты. А нам важно, чтобы робот реально поехал куда надо.

Поэтому мы брали эталонную команду и предсказание модели, прогоняли обе в симуляции MuJoCo и сравнивали, где в итоге оказался робот (с разумным допуском — управление разомкнутое, физика немного шумит).

Эта метрика — task_success = 0.975: 39 запусков из 40 привели робота туда же, куда и эталон, ноль ошибок исполнения.

Мы опытным путем доказали, что схема "впечаталась" в веса модели во время обучения, и кидать ей полную схему было совершенно избыточно.

Теперь со спокойной совестью можно было приступать к Фазе 2.

Фаза 2 - Обновляем датасет для примеров с клешней

Мы добавляем два манипуляционных действия - release и grasp, каждая из них имеет необязательный параметр cell, который в свою очередь имеет enum в качестве параметров: front | front_left | front_right | left | right, со значением front по умолчанию, если параметр не указан.

Перед тем как формировать дополненный датасет нужно было исправить небольшой факап в его первой версий. Суть в том, что там встречались примеры где поднятие предметов характеризовались как заведомо невозможные, фразы вроде «подними коробку» там считались бессмыслицей и обучались на ответ «ничего не делать» ([]).

Прежде чем что-то делать, мы это измерили: скрипт регулярками прошёл по всем 2505 старым парам и нашёл, сколько из них реально конфликтуют (манипуляционная фраза → пустой ответ).

Phase-1 pairs=2505 | manip-phrase=17 | CONFLICT=17
reuse unchanged=2488 (99.3%)

Конфликтных оказалось 17 из 2505 — 0.7%. Phase-1 почти не генерил таких фраз. Конфликтующие примеры из новой выборки были удалены.

Запустили тот же самый, уже обкатанный на Phase 1, конвейер генерации через OpenRouter — но с двумя точечными изменениями:

few-shot-примеры в промпте брались только из манипуляционных сидов (пары с grasp/release);
в промпт добавили явный акцент: «генерируй ТОЛЬКО задачи на руку, в каждой паре обязан быть grasp и/или release, чистую локомоцию НЕ выдавай».

Цель была 1000 пар. Итог прогона: все 1000 примеров приняты, 0 отбраковок схемой за весь прогон.

Что получилось

Финальный обьединенный датасет — 3518 пар:

действие	сколько
move	2239
turn	1322
grasp	814
release	584
wait	488
stop	285

Фаза 2 - Добавляем клешню к роботу

К счастью, нам не нужно столько клешней как у краба

Чтобы кисть попала в нужную точку, нужно посчитать углы суставов руки — это обратная кинематика (IK).

Сделали её методом затухающих наименьших квадратов по якобиану точки-схвата: грубо говоря, маленькими шагами подкручиваем суставы в сторону цели, пока кончик руки не придёт куда надо.

Стоит подметить две детали:

IK двигает только суставы руки, база считается зафиксированной. Это упрощает математику и логически верно: при хватании робот стоит на месте.
IK не трогает живую симуляцию. Он сохраняет состояние мира, считает решение на копии и восстанавливает всё обратно, возвращая только целевые углы. Иначе каждый расчёт IK дёргал бы физику.

Модель шлёт {"action":"grasp"} (опц. с клеткой), а контроллер разворачивает это в фиксированную канонную рутину:

клетка → точка в мире (с учётом того, куда повёрнут робот) →
найти ближайший свободный объект рядом →
раскрыть клешню → подвести руку над объектом → опустить → сжать → поднять.
release — то же в обратную сторону: поднести к клетке → опустить → разжать

Никакого «творчества» в момент исполнения: модель решает что и примерно куда (клетка), а как именно двигать суставы — детерминированная процедура и IK.

Теперь разберем систему клеток. Они имеют такую структуру.

_CELLS = {
    "front":       (0.30, 0.00),
    "front_left":  (0.27, 0.13),
    "front_right": (0.27, -0.13),
    "left":        (0.23, 0.20),
    "right":       (0.23, -0.20),
}

Если посчитать расстояние и угол каждой клетки от центра робота (кадр робота: X вперёд, Y влево):

cell	радиус √(x²+y²)	угол от носа
front	0.300 м	0°
front_left	0.300 м	+25.7°
front_right	0.300 м	−25.7°
left	0.305 м	+41.0°
right	0.305 м	−41.0°

Виден принцип: все пять клеток лежат на одной дуге радиусом ≈0.30 м перед роботом, просто разнесённые по разным направленим. То есть это не сетка координат, а один комфортный радиус досягаемости, нарезанный на 5 направлений в переднем секторе ~±41°.

Радиус ≈ 0.30 м — это «зона руки». Значение подобрано эмпирически так, чтобы IK туда дотягивался уверенно.

Фаза 2 - Файн-тюним и тестим модель, а так же добавляем user-api

Файн-тюнинг модели на обновленном датасете прошел без сюрпризов, те же 30-40 минут. Момент, который стоило отметить - файн-тюн происходил полностью нуля, без учета весов с первой фазы, потому что туда попали инструкции где поднятие предметов считалось бессмыслицей, в любом случае мы ничего не теряем, модель тренируется очень быстро.

Осталось протестировать модель. Для определения качества обучения мы вводим метрику, которая сравнивает финальное положение хватаемого объекта между эталоном и предсказанием (допуск 0.10 м).

Если модель сказала «возьми и положи слева», успех засчитывается, только когда куб реально оказался слева — и там же, куда его кладёт эталон.

Что показали цифры

Прогон на отложенной выборке (352 пары, та же, что у Phase 1):

метрика	Phase 2	Phase 1
schema_valid	0.991	1.000
exact_match	0.943	0.920
action_seq	0.980	0.980
ood_f1	0.857	0.846
task_success (MuJoCo, 40)	0.975	0.975

Как это читать:

schema_valid 0.991, а не 1.0 — небольшой регресс.
exact_match 0.943 — даже выше, чем у Phase 1 (0.920). Модель выучивает манипуляционные паттерны резче, чем разговорные формулировки расстояний.
task_success 0.975 при нуле ошибок исполнения — grasp/release/клетка отрабатывают в физике чисто, и куб оказывается там же, куда его кладёт эталон.

Добавляем интерактивный режим

Конвейер замкнут — но прогон фиксированного датасета это всё ещё «лабораторно». Хотелось добавить возможность командовать роботом свободным текстом в реальном времени.

Выбрали самое наглядное: REPL + окно MuJoCo. Печатаешь фразу — робот тут же её исполняет в живой симуляции, состояние копится между фразами (никакого сброса: сказал «проедь вперёд», потом «теперь налево» — он поедет от того места, где остановился).

Архитектурно тут решено было добавить два потока:

Поток ввода: блокирующий input() + инференс модели — складывает разобранные команды в очередь.
Главный поток владеет окном и физикой: есть команда в очереди — исполняет в реальном времени; нет — крутит холостой шаг (робот стоит, окно живёт). Только он зовёт шаг физики — поэтому нет гонок данных в MuJoCo.

REPL — это Read–Eval–Print Loop, «цикл: прочитал — выполнил — показал результат — снова жди ввод». Проще говоря, интерактивная консоль, которая в цикле:

Read — ждёт, пока ты введёшь строку;
Eval — выполняет её;
Print — показывает результат;
Loop — возвращается к шагу 1 и ждёт следующую.

Тут все вышло без проблем, результат вы могли увидеть в GIF в начале статьи.

Результаты

По итогу что было сделано

Была сделана с нуля физическая модель гусеничного робота с робо-клешней в среде Mujoco
Была обучена Gemma-3 на 270 млн параметров принимать команды от человека на естественном языке и переводить это в JSON для управления гусеничным роботом
Обучение проводилось на бесплатной машине Kaggle, синтетический датасет собирался с помощью бесплатных моделей gpt-oss-120b и nemotron-super-120b на OpenRouter

Вот мы и подошли к концу этого путешествия. Но проект еще не закончен. Необходимо доработать два основных момента

Добавить роботу восприятие карты, чтобы он мог действовать более самостоятельно и анализировать обстановку, например, подбирать предметы по команде человека в свободной форме ("подбери красный куб), преодолевать препятствия и так далее.
Перенести модель в реального гусеничного робота, для этого необходимо собрать лежащий у меня DIY-набор RaspTank, фото которого было показано в начале статьи.

Если вам эта статья покажется интересной, то я попробую этим заняться в следующей части.

А пока до новых встреч.

Источники

Исходный код и веса модели

Codeberg (исходный код) - https://codeberg.org/imperius/llm-tank

Hugging-Face (веса) - https://huggingface.co/Imperius/llm-tank

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17 мая 2026 г.

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Becoming a victim of an investment scam is never anyone's intention it often happens because fraudsters exploit trust and a lack of awareness. I would like to express my sincere gratitude to the dedicated team at ResQpro for their professionalism and commitment to helping victims of online investment fraud. Their efforts in assisting individuals with the recovery of stolen assets and holding scammers accountable are truly commendable. If you need assistance or would like to learn more, you can contact them through: Email: [email protected] Alternative Email: [email protected] Telegram: @ResQprofirm WhatsApp: +1 (985) 296-9146
24.06.26 14:21 Elizabeth Thompson

If you believe you have been the victim of an investment scam, it is important to act promptly and gather all relevant information. Keep records of transaction receipts, wallet addresses, communication logs, account details, and any other evidence related to the incident. Providing accurate documentation can help investigators, financial institutions, legal professionals, or recovery specialists review your case and determine what options may be available. Be cautious of anyone who guarantees the recovery of lost funds or requests large upfront payments. For additional information, you may contact: Email: [email protected] Telegram: @ResQprofirm WhatsApp: +1 (985) 296-9146
24.06.26 15:33 Júlia Castro

If you have fallen victim to an investment scam, it is important to act quickly and gather all available evidence related to the incident. This may include transaction records, wallet addresses, screenshots of conversations, emails, account details, and any information connected to the individuals or entities involved. Having complete documentation can help professionals assess your situation and explore possible recovery options. Always exercise caution when seeking assistance and carefully verify the credentials of any service provider before proceeding. For further information, you may contact: Email: [email protected] Telegram: @ResQprofirm WhatsApp: +1 (985) 296-9146
24.06.26 22:01 robertalfred175

CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: Email: [email protected] Telegram: @Capitalcryptorecover Contact: [email protected] Call/Text: +1 (336) 390-6684 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
24.06.26 22:01 robertalfred175

CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: Email: [email protected] Telegram: @Capitalcryptorecover Contact: [email protected] Call/Text: +1 (336) 390-6684 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
25.06.26 21:13 Emilie Safi

A fraudulent investment scheme operated by BTCMining.limited functions as a fake return scam. In this setup, scammers lure victims with false promises of high returns. Through manipulative tactics, they gain individuals' trust and convince them to invest, ultimately leading to financial loss. If you have ever faced a cyber threat or fallen victim to an online crypto scam and need to reach the authorities, I recommend contacting [email protected], [email protected], WhatsApp +19852969146, telegram @resqprofirm. They are a legitimate team that helps victims of online crypto scams using advanced tools.
25.06.26 21:25 Emilie Safi

So I ended up losing $38,000 to this platform. At first, they kept asking me to put in more money so I could get into my portfolio. I did that, but then they wouldn’t let me withdraw anything—just kept asking for more deposits. It got way too suspicious, so I stopped. I found this company called ResQProfirm on Google and told them what happened. They got in touch, asked me to walk them through everything, and I gave them all the proof I had. They did an amazing job tracking down my money and getting it back. Big thanks to them at [email protected] and on WhatsApp at +19852969146. Please be careful out there and always research before investing.
26.06.26 01:04 robertalfred175

CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: Email: [email protected] Telegram: @Capitalcryptorecover Contact: [email protected] Call/Text: +1 (336) 390-6684 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
26.06.26 01:04 robertalfred175

CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: Email: [email protected] Telegram: @Capitalcryptorecover Contact: [email protected] Call/Text: +1 (336) 390-6684 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
26.06.26 02:48 Miriam Rocha

I trusted this platform with $120,000 of my hard-earned money. Then they started asking for more deposits just so I could access my own portfolio. I paid, but every withdrawal request was denied. They kept pushing for more money. I finally stopped it just felt wrong. Desperate, I found ResQProfirm on Google. They didn't just hear me out; they truly listened. I shared all my proof, and they launched an investigation. Thanks to their hard work, they tracked and returned my funds. From the bottom of my heart, thank you to [email protected] and their WhatsApp +19852969146. Please stay safe and always verify a platform before investing
26.06.26 02:52 Miško Bakić

I got my $232,000 refund thanks to [email protected] and WhatsApp +19852969146. Highly recommended for anyone in a similar situation.
26.06.26 02:56 Asunción Herrera

A recovery of $48,330 was facilitated by [email protected]. Individuals who have experienced financial fraud may consider contacting this service.
26.06.26 15:05 Riley Stephens

If withdrawals keep getting denied, stay calm. I went through the same, and this firm helped me recover everything. Their assistance was outstanding. Contact: [ResQProFirm @Gmail|•|com], Telegram: ResQprofirm, WhatsApp: <+198> <5296> <9146>.
26.06.26 15:09 Antonio Riley

Withdrawal troubles shouldn’t stress you out. I faced a similar problem, and this firm stepped in and recovered my funds. Their support truly mattered. Contact them: [[email protected], ResQprofirm @aol.com], Telegram: ResQprofirm, WhatsApp: +19852969146.
28.06.26 00:37 kimberlyhebertt673

I invested in bitcoin trading After losing $78.4 USDT) linked to a romance fraud scam worth of cryptocurrency through an online investment platform and later discovered it was a scam. After extensive research for recovery options, I contacted CAPITAL CRYPTO RECOVER based on positive client reviews and recommendations. Their professional security team guided me through the recovery process using advanced technology, and I was able to recover my lost cryptocurrency successfully. I am truly grateful for their support and assistance during such a difficult experience. I will advise you to contact CAPITAL CRYPTO RECOVER helped me recover my funds. For anyone facing similar issues, Website: https://recovercapital.wixsite.com/capital-crypto-rec-1 Email: [email protected] Telegram: @Capitalcryptorecover Contact: [email protected] Call/Text Number: +1 (336) 390-6684
28.06.26 00:37 kimberlyhebertt673

I invested in bitcoin trading After losing $78.4 USDT) linked to a romance fraud scam worth of cryptocurrency through an online investment platform and later discovered it was a scam. After extensive research for recovery options, I contacted CAPITAL CRYPTO RECOVER based on positive client reviews and recommendations. Their professional security team guided me through the recovery process using advanced technology, and I was able to recover my lost cryptocurrency successfully. I am truly grateful for their support and assistance during such a difficult experience. I will advise you to contact CAPITAL CRYPTO RECOVER helped me recover my funds. For anyone facing similar issues, Website: https://recovercapital.wixsite.com/capital-crypto-rec-1 Email: [email protected] Telegram: @Capitalcryptorecover Contact: [email protected] Call/Text Number: +1 (336) 390-6684
29.06.26 11:57 Lisadonato0726

For 43 years, I struggled with bad credit due to my own poor decisions, and my credit score was around 490. When my girlfriend and I decided to buy a house, a mortgage broker informed us that it would be impossible to secure a mortgage with my credit score. As a result, she referred me to a company called HACK MAVENS CREDIT SPECIALIST, assuring me of their professionalism and ability to assist with credit improvement. Upon contacting them, I was impressed by their professionalism and they assured me that they could help. In less than 6 days, my credit score skyrocketed to 785, and they also successfully resolved issues in my credit report, including the bankruptcy. I am incredibly satisfied with their service and would highly recommend HACK MAVENS CREDIT SPECIALIST for reliable credit repairs. You can reach them at H A C K M A V E N S 5 [AT] G M A I L [DOT] COM or at [+] [1] [2 0 9] [4 1 7] – [1 9 5 7]. Thanks to their help, my girlfriend and I are now proud homeowners.
29.06.26 22:37 riley777

Back in 2025, I watched my life savings vanish. A thief took every cent. I felt desperate and went looking for a way to get it back. I found a guy here who said he was an expert haha. He talked about special software that could find my missing cash. I trusted him. That was a big mistake. He was just another scammer. I paid him a software fee and then he just stopped answering my texts and ran off with my money too. I felt so ashamed that I kept quiet about it for months. It is hard to admit you got fooled twice. Later on, I found a real pro. she did not use a fancy sales pitch. she just looked at the trans screenshots and followed the path the money took. she worked fast and got my funds back into my account. Having that money back changed everything. I can sleep again. her info; [email protected]. Call/chatroom on Whtasapp/ +44 7476618364.
30.06.26 15:08 wendytaylor015

My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
30.06.26 15:08 wendytaylor015

My name is Wendy Taylor, I'm from Los Angeles, i want to announce to you Viewer how Capital Crypto Recover help me to restore my Lost Bitcoin, I invested with a Crypto broker without proper research to know what I was hoarding my hard-earned money into scammers, i lost access to my crypto wallet or had your funds stolen? Don’t worry Capital Crypto Recover is here to help you recover your cryptocurrency with cutting-edge technical expertise, With years of experience in the crypto world, Capital Crypto Recover employs the best latest tools and ethical hacking techniques to help you recover lost assets, unlock hacked accounts, Whether it’s a forgotten password, Capital Crypto Recover has the expertise to help you get your crypto back. a security company service that has a 100% success rate in the recovery of crypto assets, i lost wallet and hacked accounts. I provided them the information they requested and they began their investigation. To my surprise, Capital Crypto Recover was able to trace and recover my crypto assets successfully within 24hours. Thank you for your service in helping me recover my $647,734 worth of crypto funds and I highly recommend their recovery services, they are reliable and a trusted company to any individuals looking to recover lost money. Contact email [email protected] OR Telegram @Capitalcryptorecover Call/Text Number +1 (336)390-6684 his contact: [email protected] His website: https://recovercapital.wixsite.com/capital-crypto-rec-1
02.07.26 01:22 Lieneke Bonnema

I highly recommend ResQprofirm for their professional asset recovery services of my $120,000 scammed funds. Their expertise, professionalism, and commitment to achieving results make them a reliable choice for anyone seeking dependable recovery assistance. [email protected], WhatsApp +19852969146, telegram @resqprofirm
02.07.26 01:26 Clara Morin

I want to extend my deepest appreciation for showing that circumstances do not define one’s potential for greatness. Your support has been a major source of inspiration during my trading journey, and I am sincerely grateful for your insight and mentorship. Thank you so much. [email protected], WhatsApp +19852969146, telegram ResQprofirm
02.07.26 01:31 Robin Hale

I sincerely want to thank you for demonstrating that anyone can rise above their circumstances and achieve success. Your constant support has been incredibly inspiring during my trading journey, and your wisdom and advice mean so much to me. I appreciate you deeply. [email protected], WhatsApp +19852969146, telegram Resqprofirm
04.07.26 15:32 Fraddy Pual

There are few companies I trust as much as FUNDSRETRIEVER. When I lost $653,000 in Ethereum to a ruthless scam, I thought my life would never be the same. The betrayal cut deep, but I refused to give up. I searched tirelessly for a legitimate way to recover what was stolen, and finally found FUNDSRETRIEVER—the most competent and compassionate recovery team I could have imagined. They handled my case with precision and care, and in the end, my entire ETH wallet was restored. More than the money, they gave me back my hope and happiness. I'm sharing my story because I want others to know that recovery is possible. If a scam has taken from you, don't hesitate—contact FUNDSRETRIEVER today. Email: FUNDSRETRIEVER1@ Gmail.com | WhatsApp: +1 603-512-1448 | Telegram: @FUNDSRETRIEVER
05.07.26 14:44 lydiassmith567

HIRE A HACKER YOUR STOLEN CRYPTO RECOVERY / BTC / USDT / ETH WITH THE HELP OF CAPITAL CRYPTO RECOVER. I want to share my experience publicly regarding cryptocurrency wallet recovery, I highly recommend you to contact CAPITAL CRYPTO RECOVER, a professional private investigator in the Bitcoin world. They have a certified expert security team specializing in Bitcoin Recovery Services and have helped many people worldwide recover their lost funds. My wife and I were defrauded by an online manipulator posing as an experienced crypto investment professional. We lost $9.2 Million Stolen BTC in cryptocurrency and were left feeling homeless. After spending hours searching for a reliable crypto recovery service, I discovered CAPITAL CRYPTO RECOVER online. By patiently explaining my situation to their team, I was able to recover all my funds. Remarkably, my money was returned to my wallet in less than 24 hours. I am extremely grateful to CAPITAL CRYPTO RECOVER for their excellent assistance—they truly were a godsend in my difficult situation. If you have fallen victim to a cryptocurrency scam, you can reach CAPITAL CRYPTO RECOVER through the following channels Email: [email protected] OR Call/Text: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
05.07.26 14:44 lydiassmith567

HIRE A HACKER YOUR STOLEN CRYPTO RECOVERY / BTC / USDT / ETH WITH THE HELP OF CAPITAL CRYPTO RECOVER. I want to share my experience publicly regarding cryptocurrency wallet recovery, I highly recommend you to contact CAPITAL CRYPTO RECOVER, a professional private investigator in the Bitcoin world. They have a certified expert security team specializing in Bitcoin Recovery Services and have helped many people worldwide recover their lost funds. My wife and I were defrauded by an online manipulator posing as an experienced crypto investment professional. We lost $9.2 Million Stolen BTC in cryptocurrency and were left feeling homeless. After spending hours searching for a reliable crypto recovery service, I discovered CAPITAL CRYPTO RECOVER online. By patiently explaining my situation to their team, I was able to recover all my funds. Remarkably, my money was returned to my wallet in less than 24 hours. I am extremely grateful to CAPITAL CRYPTO RECOVER for their excellent assistance—they truly were a godsend in my difficult situation. If you have fallen victim to a cryptocurrency scam, you can reach CAPITAL CRYPTO RECOVER through the following channels Email: [email protected] OR Call/Text: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
06.07.26 16:20 Olga Ognjanović

Having trouble withdrawing funds from an investment platform? ResQprofirm provides fund recovery assistance for individuals seeking help with investment-related disputes. I reached out to them after experiencing problems with an investment platform, and I appreciated their professionalism and support throughout the process. If you're facing a similar situation, act promptly, keep records of your transactions and communications, and seek assistance from a qualified recovery service or the appropriate authorities. Contact: Email: [email protected] Telegram: @ResQprofirm WhatsApp: +1 985 296 9146
06.07.26 16:31 Joseph Weigl

Invest wisely and stay cautious. Don't be influenced by promises of unusually high returns or convincing sales pitches from brokers. I learned this the hard way after falling victim to an investment scam that promised huge profits. Fortunately, I acted quickly and reported the incident to a recovery firm for assistance. Contact: Email: [email protected] Telegram: @Resqprofirm WhatsApp: +1 985 296 9146
06.07.26 16:33 Jaran Løvlien

A heartfelt thank you to RESQPRO FIRM for their commitment and professionalism throughout the investigation of my case. Their team worked diligently and helped recover assets valued at $88,000, which were returned to my wallet. I truly appreciate their support, clear communication, and dedication, and I'm grateful for the assistance I received. Contact: Email: [email protected] Telegram: @Resqprofirm WhatsApp: +1 985 296 9146
07.07.26 18:00 robertalfred175

CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: Email: [email protected] Telegram: @Capitalcryptorecover Contact: [email protected] Call/Text: +1 (336) 390-6684 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
07.07.26 18:01 robertalfred175

CRYPTO SCAM RECOVERY SUCCESSFUL – A TESTIMONIAL OF LOST PASSWORD TO YOUR DIGITAL WALLET BACK. My name is Robert Alfred, Am from Australia. I’m sharing my experience in the hope that it helps others who have been victims of crypto scams. A few months ago, I fell victim to a fraudulent crypto investment scheme linked to a broker company. I had invested heavily during a time when Bitcoin prices were rising, thinking it was a good opportunity. Unfortunately, I was scammed out of $120,000 AUD and the broker denied me access to my digital wallet and assets. It was a devastating experience that caused many sleepless nights. Crypto scams are increasingly common and often involve fake trading platforms, phishing attacks, and misleading investment opportunities. In my desperation, a friend from the crypto community recommended Capital Crypto Recovery Service, known for helping victims recover lost or stolen funds. After doing some research and reading multiple positive reviews, I reached out to Capital Crypto Recovery. I provided all the necessary information—wallet addresses, transaction history, and communication logs. Their expert team responded immediately and began investigating. Using advanced blockchain tracking techniques, they were able to trace the stolen Dogecoin, identify the scammer’s wallet, and coordinate with relevant authorities to freeze the funds before they could be moved. Incredibly, within 24 hours, Capital Crypto Recovery successfully recovered the majority of my stolen crypto assets. I was beyond relieved and truly grateful. Their professionalism, transparency, and constant communication throughout the process gave me hope during a very difficult time. If you’ve been a victim of a crypto scam, I highly recommend them with full confidence contacting: Email: [email protected] Telegram: @Capitalcryptorecover Contact: [email protected] Call/Text: +1 (336) 390-6684 Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
09.07.26 19:06 Toivo Walli

I lost 8.56btc to a fake Bitcoin mining site, I tried withdrawing but couldn't approved my process, I reported to !R£SQPROFIRM! via °R£SQproFirm°àt°gmail•com° °tEL£°gram=R£SQprofirm °whaT°Zap+198°52°96°91°46
09.07.26 19:10 Misty Alexander

Ongoing messages demanding more money before approving withdrawals are a major red flag. Stop engaging and report the incident to a trusted recovery team. For professional support, you can contact R£sQprofirm using °ResQproFirm°àt°g,*ma'il(•)¢m°, TEL£gram ResQprofirm, or |whaTZap| +1-985-296-9146.
09.07.26 19:13 Clara Soto

Anyone receiving continued requests for additional deposits from a scam platform should immediately cut off communication and submit the case to a reputable recovery service for investigation. R£sQprofirm is a dependable firm you can reach at °ResQproFirm°àt°g,*ma'il(•)¢om°, TEL£gram ResQprofirm, or |whaTZap| +1-985-296-9146.
12.07.26 03:30 Kora Baltacha

Time is critical. Act now by reaching out to a reputable, seasoned recovery specialist who will guide you every step of the way. You'll need to submit transaction proof, scammer details, and any other useful information. Armed with this, the experts can trace and attempt to pull your money back from the scammers' hidden accounts or wallets. Best of all, R£sQprofirm provides recovery help without charging any upfront fees. Contact them immediately via Telegram @ResQprofirm, WhatsApp +19852969146, or email [email protected].
12.07.26 03:33 Pahal Mathew

It's important to move proactively by engaging an experienced recovery specialist. They will assist you throughout the process. To help them, provide: · Transaction evidence · Scammer information · Any additional relevant details The experts will then track and try to retrieve your funds from the scammers' hidden accounts or wallets. R£sQprofirm offers recovery assistance with no upfront fees. Contact: Telegram: @ResQprofirm WhatsApp: +19852969146 Email: [email protected]
13.07.26 23:49 [email protected]

One of the biggest concerns I have about cryptocurrency is the lack of regulation. It creates opportunities for scammers to invent convincing stories and fraudulent investment schemes. Unfortunately, some social media platforms continue to display these ads because they profit from them, even after users report them.I personally clicked on a Facebook advertisement for a company called Chickenfastmining and ended up losing more than $120,000 in a scam. I reported the ad, but nothing was done. Later, through a Reddit community, I found a recovery service called CYBERBERSPY that, in my personal experience, they helped me recover $110,000 of my lost funds. If you've been a victim of a cryptocurrency scam, don't lose hope. Explore your options carefully, and always verify the legitimacy of any recovery service before trusting them or paying any fees. Based on my own experience, CYBERBERSPY was helpful to me and i was able to recover my funds back, but I encourage everyone to do their own research before using any recovery service.i highly recommend: ([email protected])
15.07.26 11:53 Sarah Green

Thank you for showing that success is possible regardless of where someone starts. Your encouragement, valuable advice, and continuous support have inspired me throughout my $160,457k crypto investment recovery journey. I truly appreciate your kindness and dedication. Resqprofirm @gmail.com Telegram: Resqprofirm
15.07.26 11:58 Lily Gagné

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16.07.26 21:38 patricialovick86

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30.07.26 00:04 Ahmed

A really cool analysis, thank you. I was especially struck by how strictly the order is defined: data processing and formatting come first, with color only at the very end. This really saves you from the typical mistake of "first a pretty palette, then we figure out what the chart is for." And the palette validator with OKLCH + colorblindness check is absolutely fantastic; you almost never see that in regular tools. By the way, while reading about rank-trajectory and the logarithmic scale, I immediately remembered how convenient it is to analyze dynamics on charts in ExpertOption—I've been trading there for quite some time now. When the data is well visualized, decisions are noticeably easier and more relaxed. I also liked the point about "no more than eight colors" and the dual-axis ban. Strict restrictions sometimes actually produce better results than complete freedom. I'll try this approach myself.
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04.08.26 11:05 Kisnoles

Excellent analysis, thank you. I was particularly struck by how rigidly the skill sets the order: data processing and form come first, with color coming last. This really cures the habit of "first a pretty palette, then we'll figure it out." A palette validator using OKLCH + color blindness + WCAG is something most chart generators lack. And regarding the boundaries of competence, it's very clear. Where there's a self-checking loop (color), you delegate freely. Where there's a heuristic (form, data interpretation), you remain the final filter. This is a universal principle, not just for /dataviz. By the way, when you look at trading dashboards (including those of decent platforms like ExpertOption), it's immediately clear who thought about readability and who just threw in rainbow lines. Tools like this skill could greatly improve the quality of analytics. Thanks again for the detailed analysis – saved.
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19.08.26 14:50 BAYER7043

My account was locked, and I couldn’t access my own information until [email protected] +447476618364 whats?up? helped me recover it. This lady hacker was kind and professional, but this experience showed me how risky account lockouts can be. If you’re facing the same problem, do not panic consult her A. S. A. P. Be careful with recovery agents outchea, and research their name, business, and reviews before sharing any details. Never send passwords, security codes, banking information, or copies of your ID unless you’ve confirmed who you’re dealing with. Be wary of promises that sound too good to be true, especially claims that require little information or guarantee instant access with outrageous fees.
20.08.26 11:32 michaeldavenport218

I was recently scammed out of $53,000 by a fraudulent Bitcoin investment scheme, which added significant stress to my already difficult health issues, as I was also facing cancer surgery expenses. Desperate to recover my funds, I spent hours researching and consulting other victims, which led me to discover the excellent reputation of Capital Crypto Recover, I came across a Google post It was only after spending many hours researching and asking other victims for advice that I discovered Capital Crypto Recovery’s stellar reputation. I decided to contact them because of their successful recovery record and encouraging client testimonials. I had no idea that this would be the pivotal moment in my fight against cryptocurrency theft. Thanks to their expert team, I was able to recover my lost cryptocurrency back. The process was intricate, but Capital Crypto Recovery's commitment to utilizing the latest technology ensured a successful outcome. I highly recommend their services to anyone who has fallen victim to cryptocurrency fraud. For assistance contact [email protected] and on Telegram OR WhatsApp Number +1 (336)390-6684 via email: [email protected] you can visit his website: https://recovercapital.wixsite.com/capital-crypto-rec-1
20.08.26 11:32 michaeldavenport218

I was recently scammed out of $53,000 by a fraudulent Bitcoin investment scheme, which added significant stress to my already difficult health issues, as I was also facing cancer surgery expenses. Desperate to recover my funds, I spent hours researching and consulting other victims, which led me to discover the excellent reputation of Capital Crypto Recover, I came across a Google post It was only after spending many hours researching and asking other victims for advice that I discovered Capital Crypto Recovery’s stellar reputation. I decided to contact them because of their successful recovery record and encouraging client testimonials. I had no idea that this would be the pivotal moment in my fight against cryptocurrency theft. Thanks to their expert team, I was able to recover my lost cryptocurrency back. The process was intricate, but Capital Crypto Recovery's commitment to utilizing the latest technology ensured a successful outcome. I highly recommend their services to anyone who has fallen victim to cryptocurrency fraud. For assistance contact [email protected] and on Telegram OR WhatsApp Number +1 (336)390-6684 via email: [email protected] you can visit his website: https://recovercapital.wixsite.com/capital-crypto-rec-1
23.08.26 20:02 leslieyee

Excellent analysis by /dataviz! I was particularly struck by how strictly the order is defined: "data meaning first, color last" and how the validator actually adjusts the palette according to OKLCH, color blindness, and WCAG standards. These rules greatly improve the quality of charts. By the way, a similar approach to clean and legible charts is highly valued in trading—for example, on the ExpertOption platform, the interface and price visualization are designed to ensure information is read instantly and without unnecessary noise.
25.08.26 13:44 lydiassmith567

HIRE A HACKER YOUR STOLEN CRYPTO RECOVERY / BTC / USDT / ETH WITH THE HELP OF CAPITAL CRYPTO RECOVER. I want to share my experience publicly regarding cryptocurrency wallet recovery, I highly recommend you to contact CAPITAL CRYPTO RECOVER, a professional private investigator in the Bitcoin world. They have a certified expert security team specializing in Bitcoin Recovery Services and have helped many people worldwide recover their lost funds. My wife and I were defrauded by an online manipulator posing as an experienced crypto investment professional. We lost $9.2 Million Stolen BTC in cryptocurrency and were left feeling homeless. After spending hours searching for a reliable crypto recovery service, I discovered CAPITAL CRYPTO RECOVER online. By patiently explaining my situation to their team, I was able to recover all my funds. Remarkably, my money was returned to my wallet in less than 24 hours. I am extremely grateful to CAPITAL CRYPTO RECOVER for their excellent assistance—they truly were a godsend in my difficult situation. If you have fallen victim to a cryptocurrency scam, you can reach CAPITAL CRYPTO RECOVER through the following channels Email: [email protected] OR Call/WhatsApp: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
25.08.26 13:44 lydiassmith567

HIRE A HACKER YOUR STOLEN CRYPTO RECOVERY / BTC / USDT / ETH WITH THE HELP OF CAPITAL CRYPTO RECOVER. I want to share my experience publicly regarding cryptocurrency wallet recovery, I highly recommend you to contact CAPITAL CRYPTO RECOVER, a professional private investigator in the Bitcoin world. They have a certified expert security team specializing in Bitcoin Recovery Services and have helped many people worldwide recover their lost funds. My wife and I were defrauded by an online manipulator posing as an experienced crypto investment professional. We lost $9.2 Million Stolen BTC in cryptocurrency and were left feeling homeless. After spending hours searching for a reliable crypto recovery service, I discovered CAPITAL CRYPTO RECOVER online. By patiently explaining my situation to their team, I was able to recover all my funds. Remarkably, my money was returned to my wallet in less than 24 hours. I am extremely grateful to CAPITAL CRYPTO RECOVER for their excellent assistance—they truly were a godsend in my difficult situation. If you have fallen victim to a cryptocurrency scam, you can reach CAPITAL CRYPTO RECOVER through the following channels Email: [email protected] OR Call/WhatsApp: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
30.08.26 15:37 [email protected]

Discovering I had been defrauded, I searched online for services claiming to recover stolen ETH. I contacted several companies, but none succeeded. Although some claimed they could trace assets or recover funds, I could not verify their success or recover my money. I later found SYLVESTER BRYANT Recovery through Google. After contacting him, he recovered 450,000,00. He can be reached at [email protected] or WhatsApp at +1 512 577 7957.
30.08.26 15:37 [email protected]

Discovering I had been defrauded, I searched online for services claiming to recover stolen ETH. I contacted several companies, but none succeeded. Although some claimed they could trace assets or recover funds, I could not verify their success or recover my money. I later found SYLVESTER BRYANT Recovery through Google. After contacting him, he recovered 450,000,00. He can be reached at [email protected] or WhatsApp at +1 512 577 7957.
01.09.26 11:16 lisawerth897

My Experience With Cryptocurrency — CAPITAL CRYPTO RECOVER I lost over $82,000 in Bitcoin after falling victim to a fraudulent online investment scheme. After realizing I had been scammed, I spent considerable time researching possible ways to recover my funds. During my research, I came across CAPITAL CRYPTO RECOVER and decided to contact them after reading their reported success record and encouraging client positive reviews and testimonials. Their team guided me through the recovery process, and I was grateful to successfully recover my lost cryptocurrency. The experience was challenging, but I appreciated the assistance and support I received throughout the process. I’m sharing my experience in the hope that it may encourage other victims to carefully research their options and verify any recovery service before proceeding. I will forever be thankful to you CAPITAL CRYPTO RECOVER 📧 [email protected] 🌐 Website: recovercapital.wixsite.com/capital-crypto-rec-1 📧 [email protected] 📞 Call/WhatsApp: +1 (336) 390-6684
01.09.26 11:16 lisawerth897

My Experience With Cryptocurrency — CAPITAL CRYPTO RECOVER I lost over $82,000 in Bitcoin after falling victim to a fraudulent online investment scheme. After realizing I had been scammed, I spent considerable time researching possible ways to recover my funds. During my research, I came across CAPITAL CRYPTO RECOVER and decided to contact them after reading their reported success record and encouraging client positive reviews and testimonials. Their team guided me through the recovery process, and I was grateful to successfully recover my lost cryptocurrency. The experience was challenging, but I appreciated the assistance and support I received throughout the process. I’m sharing my experience in the hope that it may encourage other victims to carefully research their options and verify any recovery service before proceeding. I will forever be thankful to you CAPITAL CRYPTO RECOVER 📧 [email protected] 🌐 Website: recovercapital.wixsite.com/capital-crypto-rec-1 📧 [email protected] 📞 Call/WhatsApp: +1 (336) 390-6684
01.09.26 17:34 Garry42

Really crazy world. These fraudsters go at any length to steal your hard earned funds. I have been a victim of a bitcoin scam about 7 months back. A Con artist gained access to my cashapp account through a phishing scam. They stole $409,000. I was really devastated. I did everything to get back my funds by contacting the FBI but they claimed there was nothing they could do. A friend told me about a recovery expert. He helps fight against various phishing and investment scams and they were able to help trace and recover my funds even though it took over 2 days. you can reach out to him through recoverydarek@gmail. com . I can guarantee his services are still active.
01.09.26 17:34 Garry42

Really crazy world. These fraudsters go at any length to steal your hard earned funds. I have been a victim of a bitcoin scam about 7 months back. A Con artist gained access to my cashapp account through a phishing scam. They stole $409,000. I was really devastated. I did everything to get back my funds by contacting the FBI but they claimed there was nothing they could do. A friend told me about a recovery expert. He helps fight against various phishing and investment scams and they were able to help trace and recover my funds even though it took over 2 days. you can reach out to him through recoverydarek@gmail. com . I can guarantee his services are still active.
02.09.26 03:43 kimberlyhebertt6877

I invested in bitcoin trading After losing $78.4 USDT) linked to a romance fraud scam worth of cryptocurrency through an online investment platform and later discovered it was a scam. After extensive research for recovery options, I contacted CAPITAL CRYPTO RECOVER based on positive client reviews and recommendations. Their professional security team guided me through the recovery process using advanced technology, and I was able to recover my lost cryptocurrency successfully. I am truly grateful for their support and assistance during such a difficult experience. I will advise you to contact CAPITAL CRYPTO RECOVER helped me recover my funds. For anyone facing similar issues, Website: https://recovercapital.wixsite.com/capital-crypto-rec-1 Email: [email protected] Telegram: @Capitalcryptorecover Contact: [email protected] WhatsApp/Text Number: +1 (336) 390-6684
02.09.26 03:43 kimberlyhebertt6877

I invested in bitcoin trading After losing $78.4 USDT) linked to a romance fraud scam worth of cryptocurrency through an online investment platform and later discovered it was a scam. After extensive research for recovery options, I contacted CAPITAL CRYPTO RECOVER based on positive client reviews and recommendations. Their professional security team guided me through the recovery process using advanced technology, and I was able to recover my lost cryptocurrency successfully. I am truly grateful for their support and assistance during such a difficult experience. I will advise you to contact CAPITAL CRYPTO RECOVER helped me recover my funds. For anyone facing similar issues, Website: https://recovercapital.wixsite.com/capital-crypto-rec-1 Email: [email protected] Telegram: @Capitalcryptorecover Contact: [email protected] WhatsApp/Text Number: +1 (336) 390-6684
04.09.26 21:51 Kovengray

Recovering your lost investment funds as the case might be, is not what you can do alone, you’d require the service of a trained recovery specialist. A recovery specialist is a person or a group of people who are well equipped to work around the brokerage network. They have vast knowledge about the whole network and have the right software and private keys to follow any transaction. I was ripped off trading online to an investment broker, good thing I got every penny back through the help of Gavin ray he’s a genius Contact : Gavinray78 at gmail com or WhatsApp +1 352 322 2096 It is also important to be patient and really calm during the process.
05.09.26 21:38 [email protected]

I invested 45,000 Euro, and later aggreviated to 198,000 Euro. I requested to place ‎Withdrawal of my funds to be paid to my Bank account. But nothing happened I was subjected to pay more fee until I can get my funds on my account, i got in touch with Theodore ryan here on this platform who had helped a lot of people, I followed all instructions and he legally got back my withheld funds, I got threatened by the company that if I don’t pay they will get my account frozen, all thanks to Theodore ryan and I highly recommend him to anyone dealing with an unregulated broker company… contact him on his Gmail - theodoreryan318@ gmail . com
09.09.26 21:31 lisawerth897

My Experience With Cryptocurrency — CAPITAL CRYPTO RECOVER I lost over $82,000 in Bitcoin after falling victim to a fraudulent online investment scheme. After realizing I had been scammed, I spent considerable time researching possible ways to recover my funds. During my research, I came across CAPITAL CRYPTO RECOVER and decided to contact them after reading their reported success record and encouraging client positive reviews and testimonials. Their team guided me through the recovery process, and I was grateful to successfully recover my lost cryptocurrency. The experience was challenging, but I appreciated the assistance and support I received throughout the process. I’m sharing my experience in the hope that it may encourage other victims to carefully research their options and verify any recovery service before proceeding. I will forever be thankful to you CAPITAL CRYPTO RECOVER 📧 [email protected] 🌐 Website: recovercapital.wixsite.com/capital-crypto-rec-1 📧 [email protected] 📞 Call/WhatsApp: +1 (336) 390-6684
09.09.26 21:31 lisawerth897

My Experience With Cryptocurrency — CAPITAL CRYPTO RECOVER I lost over $82,000 in Bitcoin after falling victim to a fraudulent online investment scheme. After realizing I had been scammed, I spent considerable time researching possible ways to recover my funds. During my research, I came across CAPITAL CRYPTO RECOVER and decided to contact them after reading their reported success record and encouraging client positive reviews and testimonials. Their team guided me through the recovery process, and I was grateful to successfully recover my lost cryptocurrency. The experience was challenging, but I appreciated the assistance and support I received throughout the process. I’m sharing my experience in the hope that it may encourage other victims to carefully research their options and verify any recovery service before proceeding. I will forever be thankful to you CAPITAL CRYPTO RECOVER 📧 [email protected] 🌐 Website: recovercapital.wixsite.com/capital-crypto-rec-1 📧 [email protected] 📞 Call/WhatsApp: +1 (336) 390-6684
09.09.26 23:22 Fraddy Pual

Hearing that these individuals are focusing on other people makes me very sad. I had a similar situation with them and lost a lot of money, but after learning about (Cruxcipherteam @ proton DoT me), whataqq:+168160-15021, telegram: @Cruxcipherteam I was able to get my money back. It's critical that we all be watchful and keep reporting these occurrences.
11.09.26 03:23 kimberlyhebertt6877

I invested in bitcoin trading After losing $78.4 USDT) linked to a romance fraud scam worth of cryptocurrency through an online investment platform and later discovered it was a scam. After extensive research for recovery options, I contacted CAPITAL CRYPTO RECOVER based on positive client reviews and recommendations. Their professional security team guided me through the recovery process using advanced technology, and I was able to recover my lost cryptocurrency successfully. I am truly grateful for their support and assistance during such a difficult experience. I will advise you to contact CAPITAL CRYPTO RECOVER helped me recover my funds. For anyone facing similar issues, Website: https://recovercapital.wixsite.com/capital-crypto-rec-1 Email: [email protected] Telegram: @Capitalcryptorecover Contact: [email protected] WhatsApp/Text Number: +1 (336) 390-6684
11.09.26 03:23 kimberlyhebertt6877

I invested in bitcoin trading After losing $78.4 USDT) linked to a romance fraud scam worth of cryptocurrency through an online investment platform and later discovered it was a scam. After extensive research for recovery options, I contacted CAPITAL CRYPTO RECOVER based on positive client reviews and recommendations. Their professional security team guided me through the recovery process using advanced technology, and I was able to recover my lost cryptocurrency successfully. I am truly grateful for their support and assistance during such a difficult experience. I will advise you to contact CAPITAL CRYPTO RECOVER helped me recover my funds. For anyone facing similar issues, Website: https://recovercapital.wixsite.com/capital-crypto-rec-1 Email: [email protected] Telegram: @Capitalcryptorecover Contact: [email protected] WhatsApp/Text Number: +1 (336) 390-6684
15.09.26 03:35 elioduncan

I fell victim to a freelance web development contract scam that ultimately cost me CAD 4,000. It all started when I came across a job posting on Indeed Canada, a popular online job portal. The position seemed perfect: a freelance web developer role for an established company looking for someone to design and build a fully functional e-commerce website. The job promised a high payment of CAD 20,000 upon successful completion, which sounded like a great opportunity for me to gain experience and earn decent pay.The employer, who introduced himself as a project manager from a "well-known" tech company, was very persuasive and professional in our initial communication. He explained that the project involved developing a user-friendly, responsive online store for their client and that they had a strict timeline to meet. He assured me that the payment would be made promptly after completing the tasks. However, before starting the work, he told me that I would need to pay an upfront fee of CAD 4,000 to cover certain software tools and licensing fees required for the project. This was supposedly a part of their company policy for freelance contractors, ensuring access to their premium resources. The idea of working on a professional project, coupled with the promise of a substantial payout, convinced me to pay the upfront fee.As soon as I made the payment, the project manager became increasingly difficult to reach. He initially responded to my emails and provided some vague instructions on what the project would entail, but as time went on, communication slowed to a complete halt. I never received the required tools or any proper project details. My emails went unanswered, and any attempts to contact the company were met with silence. After waiting for weeks, I realized that I had been scammed.Desperate to recover my money, I turned to TechY Force Cyber Retrieval, a service that specializes in helping victims of online scams. They helped me track the payment and took legal steps to pursue the fraudsters. Through their guidance, I was able to recover the full CAD 4,000. TechY Force Cyber Retrieval worked with my bank to reverse the transaction and liaised with the authorities to trace the scammer's details.This was a hard lesson, and I now know to be highly cautious about online job offers that require upfront payments. It is crucial to research companies thoroughly and avoid any job that seems too good to be true, especially when it involves paying money upfront. WhatsApp https://wa.link/2x6ktp Mail. [email protected]
15.09.26 15:45 lydiassmith567

HIRE A HACKER YOUR STOLEN CRYPTO RECOVERY / BTC / USDT / ETH WITH THE HELP OF CAPITAL CRYPTO RECOVER. I want to share my experience publicly regarding cryptocurrency wallet recovery, I highly recommend you to contact CAPITAL CRYPTO RECOVER, a professional private investigator in the Bitcoin world. They have a certified expert security team specializing in Bitcoin Recovery Services and have helped many people worldwide recover their lost funds. My wife and I were defrauded by an online manipulator posing as an experienced crypto investment professional. We lost $9.2 Million Stolen BTC in cryptocurrency and were left feeling homeless. After spending hours searching for a reliable crypto recovery service, I discovered CAPITAL CRYPTO RECOVER online. By patiently explaining my situation to their team, I was able to recover all my funds. Remarkably, my money was returned to my wallet in less than 24 hours. I am extremely grateful to CAPITAL CRYPTO RECOVER for their excellent assistance—they truly were a godsend in my difficult situation. If you have fallen victim to a cryptocurrency scam, you can reach CAPITAL CRYPTO RECOVER through the following channels Email: [email protected] OR Call/WhatsApp: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1
15.09.26 15:45 lydiassmith567

HIRE A HACKER YOUR STOLEN CRYPTO RECOVERY / BTC / USDT / ETH WITH THE HELP OF CAPITAL CRYPTO RECOVER. I want to share my experience publicly regarding cryptocurrency wallet recovery, I highly recommend you to contact CAPITAL CRYPTO RECOVER, a professional private investigator in the Bitcoin world. They have a certified expert security team specializing in Bitcoin Recovery Services and have helped many people worldwide recover their lost funds. My wife and I were defrauded by an online manipulator posing as an experienced crypto investment professional. We lost $9.2 Million Stolen BTC in cryptocurrency and were left feeling homeless. After spending hours searching for a reliable crypto recovery service, I discovered CAPITAL CRYPTO RECOVER online. By patiently explaining my situation to their team, I was able to recover all my funds. Remarkably, my money was returned to my wallet in less than 24 hours. I am extremely grateful to CAPITAL CRYPTO RECOVER for their excellent assistance—they truly were a godsend in my difficult situation. If you have fallen victim to a cryptocurrency scam, you can reach CAPITAL CRYPTO RECOVER through the following channels Email: [email protected] OR Call/WhatsApp: +1 (336) 390-6684 Contact: [email protected] Website: https://recovercapital.wixsite.com/capital-crypto-rec-1