Yaru Niu
@yaru_niu • 1,125 subscribers
PhD student @CarnegieMellon. Research Intern @NVIDIAAI. Previously @GeorgiaTech @BaiduResearch @UCBerkeley and SCUT. Building robot intelligence.
Videos
A touch-aware humanoid manipulation policy that cleans the lab for you🧹🧪 Introducing Humanoid Touch Dream: a real-world system for dexterous, contact-rich humanoid loco-manipulation. Our key idea is simple: the policy predicts future hand forces and tactile latents alongside actions, within a single-stage training framework. 1/7
Yaru Niu91,677 次观看 • 6 个月前
We open-sourced all components of the HTD whole-body controller (WBC): -Play our WBC on your browser: -Main HTD codebase entry: (data collection and HTD policy soon!) Highlighted features: -Lightweight decoupled WBC that can be trained on a single GPU -A stable control base for humanoid loco-manipulation (in a mobile-manipulation style) -Support a wide range of body poses including extreme ones -Isaac Sim/Lab training, zero-shot deployment
Yaru Niu23,076 次观看 • 2 个月前
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