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Haoru Xue

@HaoruXue • 3,046 subscribers

PhD @berkeley_ai @ember_ucb | prev. intern @nvidia GEAR, @CMU_Robotics, @LeCARLab | Robot Learning, Humanoids

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And no - we are not done with visual sim-to-real yet. Releasing tomorrow, stay tuned.

And no - we are not done with visual sim-to-real yet. Releasing tomorrow, stay tuned.

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Reality of robotics: humanoid kung fu is solved before they can open doors with RGB. Here we are. Introducing the frontier of sim2real at NVIDIA GEAR. 100% sim data. RGB input only. Code name: 𝗗𝗼𝗼𝗿𝗠𝗮𝗻. We are opening the sim-to-real door. 🧵

Reality of robotics: humanoid kung fu is solved before they can open doors with RGB. Here we are. Introducing the frontier of sim2real at NVIDIA GEAR. 100% sim data. RGB input only. Code name: 𝗗𝗼𝗼𝗿𝗠𝗮𝗻. We are opening the sim-to-real door. 🧵

376,697 views • 11 months ago

🎉 Diffusion-style annealing + sampling-based MPC can surpass RL, and seamlessly adapt to task parameters, all 𝘁𝗿𝗮𝗶𝗻𝗶𝗻𝗴-𝗳𝗿𝗲𝗲! We open sourced DIAL-MPC, the first training-free method for whole-body torque control using full-order dynamics 🧵

🎉 Diffusion-style annealing + sampling-based MPC can surpass RL, and seamlessly adapt to task parameters, all 𝘁𝗿𝗮𝗶𝗻𝗶𝗻𝗴-𝗳𝗿𝗲𝗲! We open sourced DIAL-MPC, the first training-free method for whole-body torque control using full-order dynamics 🧵

172,767 views • 2 years ago

🚀 Introducing LeVERB, the first 𝗹𝗮𝘁𝗲𝗻𝘁 𝘄𝗵𝗼𝗹𝗲-𝗯𝗼𝗱𝘆 𝗵𝘂𝗺𝗮𝗻𝗼𝗶𝗱 𝗩𝗟𝗔 (upper- & lower-body), trained on sim data and zero-shot deployed. Addressing interactive tasks: navigation, sitting, locomotion with verbal instruction. 🧵

🚀 Introducing LeVERB, the first 𝗹𝗮𝘁𝗲𝗻𝘁 𝘄𝗵𝗼𝗹𝗲-𝗯𝗼𝗱𝘆 𝗵𝘂𝗺𝗮𝗻𝗼𝗶𝗱 𝗩𝗟𝗔 (upper- & lower-body), trained on sim data and zero-shot deployed. Addressing interactive tasks: navigation, sitting, locomotion with verbal instruction. 🧵

96,888 views • 1 year ago

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