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Yanjie Ze

@ZeYanjie • 5,233 subscribers

build humanoids that learn

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We’ve seen humanoid robots walk around for a while, but when will they actually help with useful tasks in daily life? The challenge here is the diversity and complexity of real-world scenes. Our new work tackles this problem via 3D visuomotor policy learning. Using data from only 1 scene, our Improved 3D Diffusion Policy (iDP3) enables a full-sized humanoid robot to autonomously pick&place objects, pour water, and wipe tables, in the wild open world. (and all these skills are useful, right?) Web: Fully open-sourced code:

We’ve seen humanoid robots walk around for a while, but when will they actually help with useful tasks in daily life? The challenge here is the diversity and complexity of real-world scenes. Our new work tackles this problem via 3D visuomotor policy learning. Using data from only 1 scene, our Improved 3D Diffusion Policy (iDP3) enables a full-sized humanoid robot to autonomously pick&place objects, pour water, and wipe tables, in the wild open world. (and all these skills are useful, right?) Web: Fully open-sourced code:

75,391 просмотров

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Excited to introduce TWIST2, our next-generation humanoid data collection system. TWIST2 is portable (use anywhere, no MoCap), scalable (100+ demos in 15 mins), and holistic (unlock major whole-body human skills). Fully open-sourced:

Excited to introduce TWIST2, our next-generation humanoid data collection system. TWIST2 is portable (use anywhere, no MoCap), scalable (100+ demos in 15 mins), and holistic (unlock major whole-body human skills). Fully open-sourced:

100,992 просмотров • 10 месяцев назад

Our humanoid now learns loco-manip skills that generalize across space (Stanford) & time (day & night), using egocentric vision, trained only in simulation

Our humanoid now learns loco-manip skills that generalize across space (Stanford) & time (day & night), using egocentric vision, trained only in simulation

93,546 просмотров • 11 месяцев назад

Excited to open-source GMR: General Motion Retargeting. Real-time human-to-humanoid retargeting on your laptop. Supports diverse motion formats & robots. Unlock whole-body humanoid teleoperation (e.g., TWIST). video with 🔊

Excited to open-source GMR: General Motion Retargeting. Real-time human-to-humanoid retargeting on your laptop. Supports diverse motion formats & robots. Unlock whole-body humanoid teleoperation (e.g., TWIST). video with 🔊

88,323 просмотров • 1 год назад

🤖Introducing TWIST: Teleoperated Whole-Body Imitation System. We develop a humanoid teleoperation system to enable coordinated, versatile, whole-body movements, using a single neural network. This is our first step toward general-purpose robots. 🌐

🤖Introducing TWIST: Teleoperated Whole-Body Imitation System. We develop a humanoid teleoperation system to enable coordinated, versatile, whole-body movements, using a single neural network. This is our first step toward general-purpose robots. 🌐

80,079 просмотров • 1 год назад

14/n Visuomotor policy learning ...but can also use feet to kick a T-shaped box to the target region, i.e., Humanoid Kick-T.

14/n Visuomotor policy learning ...but can also use feet to kick a T-shaped box to the target region, i.e., Humanoid Kick-T.

10,287 просмотров • 10 месяцев назад

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