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Tairan He

@TairanHe99 • 14,179 subscribers

Researcher @OpenAI. Prev: PhD @CMU_Robotics @NVIDIA @MSFTResearch @sjtu1896 | All Opinions are My Own

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GR00T-VisualSim2Real is now open source! VIRAL and DoorMan are now available with training code, simulation assets, and the full recipe for bringing visual sim-to-real loco-manipulation skills to your own humanoids. Repo:

GR00T-VisualSim2Real is now open source! VIRAL and DoorMan are now available with training code, simulation assets, and the full recipe for bringing visual sim-to-real loco-manipulation skills to your own humanoids. Repo:

115,756 görüntüleme

🚀 ASAP is now FULLY open-source! 🚀 ✅ Humanoid RL motion tracking & delta actions ✅ Motion retargeting to any humanoid ✅ ASAP Benchmark motions + pretrained policies ✅ Sim2Sim & Sim2Real ready — run ASAP in sim or on your G1 robot! 🔗 🎥👇

🚀 ASAP is now FULLY open-source! 🚀 ✅ Humanoid RL motion tracking & delta actions ✅ Motion retargeting to any humanoid ✅ ASAP Benchmark motions + pretrained policies ✅ Sim2Sim & Sim2Real ready — run ASAP in sim or on your G1 robot! 🔗 🎥👇

39,412 görüntüleme

Success! 🍎🤖 I can now control Unitree robots on a Mac Mini M4 running macOS with a simple tweak! The unitree_sdk2_python ( thread implementation isn’t essential—getting the DDS subscriber and publisher to work is enough. I replaced Unitree’s Linux thread logic with a simple Python while loop for sensor reading and robot control. Here’s a video of me controlling a Go2 robot on macOS (M4 Mac Mini) using a Python script for low-level control and sensor reading.

Success! 🍎🤖 I can now control Unitree robots on a Mac Mini M4 running macOS with a simple tweak! The unitree_sdk2_python ( thread implementation isn’t essential—getting the DDS subscriber and publisher to work is enough. I replaced Unitree’s Linux thread logic with a simple Python while loop for sensor reading and robot control. Here’s a video of me controlling a Go2 robot on macOS (M4 Mac Mini) using a Python script for low-level control and sensor reading.

57,603 görüntüleme

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Zero teleoperation. Zero real-world data. ➔ Autonomous humanoid loco-manipulation in reality. Introducing VIRAL: Visual Sim-to-Real at Scale. We achieved 54 autonomous cycles (walk, stand, place, pick, turn) using a simple recipe: 1. RL 2. Simulation 3. GPUs Website: Arxiv: Deep dive with me: 🧵

Zero teleoperation. Zero real-world data. ➔ Autonomous humanoid loco-manipulation in reality. Introducing VIRAL: Visual Sim-to-Real at Scale. We achieved 54 autonomous cycles (walk, stand, place, pick, turn) using a simple recipe: 1. RL 2. Simulation 3. GPUs Website: Arxiv: Deep dive with me: 🧵

260,750 görüntüleme • 6 ay önce

🚀 Can we make a humanoid move like Cristiano Ronaldo, LeBron James and Kobe Byrant? YES! 🤖 Introducing ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills Website: Code:

🚀 Can we make a humanoid move like Cristiano Ronaldo, LeBron James and Kobe Byrant? YES! 🤖 Introducing ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills Website: Code:

258,094 görüntüleme • 1 yıl önce

Introduce OmniH2O, a learning-based system for whole-body humanoid teleop and autonomy: 🦾Robust loco-mani policy 🦸Universal teleop interface: VR, verbal, RGB 🧠Autonomy via ShitposterAI or imitation 🔗Release the first whole-body humanoid dataset

Introduce OmniH2O, a learning-based system for whole-body humanoid teleop and autonomy: 🦾Robust loco-mani policy 🦸Universal teleop interface: VR, verbal, RGB 🧠Autonomy via ShitposterAI or imitation 🔗Release the first whole-body humanoid dataset

129,793 görüntüleme • 2 yıl önce

Are you opening doors for humanoids… or is your humanoid opening doors for you? Introducing DoorMan, our humanoid door-opening system powered by: • end-to-end RGB pixel-to-action control • large-scale simulation-only training • teacher–student-bootstrap RL This took our team 6 months of relentless iteration. I wasn’t sure it could be done — now it’s real. Website: ArXiv:

Are you opening doors for humanoids… or is your humanoid opening doors for you? Introducing DoorMan, our humanoid door-opening system powered by: • end-to-end RGB pixel-to-action control • large-scale simulation-only training • teacher–student-bootstrap RL This took our team 6 months of relentless iteration. I wasn’t sure it could be done — now it’s real. Website: ArXiv:

31,573 görüntüleme • 6 ay önce

🤖 Introducing H2O (Human2HumanOid): - 🧠 An RL-based human-to-humanoid real-time whole-body teleoperation framework - 💃 Scalable retargeting and training using large human motion dataset - 🎥 With just an RGB camera, everyone can teleoperate a full-sized humanoid to perform actions like pick and place, walking, kicking, boxing, etc - 💡Unleash the potential of humanoids with human cognitive skills and adaptability 🔗:

🤖 Introducing H2O (Human2HumanOid): - 🧠 An RL-based human-to-humanoid real-time whole-body teleoperation framework - 💃 Scalable retargeting and training using large human motion dataset - 🎥 With just an RGB camera, everyone can teleoperate a full-sized humanoid to perform actions like pick and place, walking, kicking, boxing, etc - 💡Unleash the potential of humanoids with human cognitive skills and adaptability 🔗:

96,651 görüntüleme • 2 yıl önce

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