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Zhen Wu

@zhenkirito123 • 2,240 subscribers

Amazon FAR (Frontier AI & Robotics). CS @Stanford. Humanoid Robots & Character Animation 🤖

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Real Unitree G1 results: • ≈3 m/s vault • 1.25 m wall climb (~96% height) • 48–60 s continuous multi-obstacle traversals • Online adaptation to obstacle displacement Now playable in your browser (even on mobile): Powered by MuJoCo-WASM. 5/6

Real Unitree G1 results: • ≈3 m/s vault • 1.25 m wall climb (~96% height) • 48–60 s continuous multi-obstacle traversals • Online adaptation to obstacle displacement Now playable in your browser (even on mobile): Powered by MuJoCo-WASM. 5/6

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I've long wondered if we can make a humanoid robot do a 𝘄𝗮𝗹𝗹𝗳𝗹𝗶𝗽 - and we just made it happen by leveraging 𝗢𝗺𝗻𝗶𝗥𝗲𝘁𝗮𝗿𝗴𝗲𝘁 with BeyondMimic tracking! This came after our original OmniRetarget experiments, with only minor tweaks to RL training: relaxing a termination threshold and removing one reward term. The policy achieved a 𝟱/𝟱 success rate in our real-world experiments, showing the strength of high-quality, interaction-preserving motion retargeting combined with BeyondMimic’s minimal RL tracking. Here is the updated arXiv: (In Sec. V. A)

I've long wondered if we can make a humanoid robot do a 𝘄𝗮𝗹𝗹𝗳𝗹𝗶𝗽 - and we just made it happen by leveraging 𝗢𝗺𝗻𝗶𝗥𝗲𝘁𝗮𝗿𝗴𝗲𝘁 with BeyondMimic tracking! This came after our original OmniRetarget experiments, with only minor tweaks to RL training: relaxing a termination threshold and removing one reward term. The policy achieved a 𝟱/𝟱 success rate in our real-world experiments, showing the strength of high-quality, interaction-preserving motion retargeting combined with BeyondMimic’s minimal RL tracking. Here is the updated arXiv: (In Sec. V. A)

1,050,904 просмотров • 8 месяцев назад

Humanoid motion tracking performance is greatly determined by retargeting quality! Introducing 𝗢𝗺𝗻𝗶𝗥𝗲𝘁𝗮𝗿𝗴𝗲𝘁🎯, generating high-quality interaction-preserving data from human motions for learning complex humanoid skills with 𝗺𝗶𝗻𝗶𝗺𝗮𝗹 RL: - 5 rewards, - 4 DR terms, - Proprio. ONLY, - NO history/curriculum. Ready for agile, human-like 🤖? (Best with 🎧) 🔗 🎥 1/9

Humanoid motion tracking performance is greatly determined by retargeting quality! Introducing 𝗢𝗺𝗻𝗶𝗥𝗲𝘁𝗮𝗿𝗴𝗲𝘁🎯, generating high-quality interaction-preserving data from human motions for learning complex humanoid skills with 𝗺𝗶𝗻𝗶𝗺𝗮𝗹 RL: - 5 rewards, - 4 DR terms, - Proprio. ONLY, - NO history/curriculum. Ready for agile, human-like 🤖? (Best with 🎧) 🔗 🎥 1/9

809,184 просмотров • 8 месяцев назад

Can humanoids perform agile, autonomous, long-horizon parkour—based on what they see in the world? We present 𝗣𝗲𝗿𝗰𝗲𝗽𝘁𝗶𝘃𝗲 𝗛𝘂𝗺𝗮𝗻𝗼𝗶𝗱 𝗣𝗮𝗿𝗸𝗼𝘂𝗿 (𝗣𝗛𝗣): a framework that chains dynamic human skills using onboard depth perception for long-horizon traversal. 1/6

Can humanoids perform agile, autonomous, long-horizon parkour—based on what they see in the world? We present 𝗣𝗲𝗿𝗰𝗲𝗽𝘁𝗶𝘃𝗲 𝗛𝘂𝗺𝗮𝗻𝗼𝗶𝗱 𝗣𝗮𝗿𝗸𝗼𝘂𝗿 (𝗣𝗛𝗣): a framework that chains dynamic human skills using onboard depth perception for long-horizon traversal. 1/6

142,426 просмотров • 4 месяцев назад

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