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Exciting updates on Project GR00T! We discover a systematic way to scale up robot data, tackling the most painful pain point in robotics. The idea is simple: human collects demonstration on a real robot, and we multiply that data 1000x or more in simulation. Let’s break it down: 1.... We use Apple Vision Pro (yes!!) to give the human operator first person control of the humanoid. Vision Pro parses human hand pose and retargets the motion to the robot hand, all in real time. From the human’s point of view, they are immersed in another body like the Avatar. Teleoperation is slow and time-consuming, but we can afford to collect a small amount of data. 2. We use RoboCasa, a generative simulation framework, to multiply the demonstration data by varying the visual appearance and layout of the environment. In Jensen’s keynote video below, the humanoid is now placing the cup in hundreds of kitchens with a huge diversity of textures, furniture, and object placement. We only have 1 physical kitchen at the GEAR Lab in NVIDIA HQ, but we can conjure up infinite ones in simulation. 3. Finally, we apply MimicGen, a technique to multiply the above data even more by varying the motion of the robot. MimicGen generates vast number of new action trajectories based on the original human data, and filters out failed ones (e.g. those that drop the cup) to form a much larger dataset. To sum up, given 1 human trajectory with Vision Pro -> RoboCasa produces N (varying visuals) -> MimicGen further augments to NxM (varying motions). This is the way to trade compute for expensive human data by GPU-accelerated simulation. A while ago, I mentioned that teleoperation is fundamentally not scalable, because we are always limited by 24 hrs/robot/day in the world of atoms. Our new GR00T synthetic data pipeline breaks this barrier in the world of bits. Scaling has been so much fun for LLMs, and it's finally our turn to have fun in robotics! We are building tools to enable everyone in the ecosystem to scale up with us. Links in thread:show more

Jim Fan

527,177 subscribers

364,514 views • 2 years ago •via X (Twitter)

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Jim Fan2 years ago

RoboCasa: our generative simulation framework. It's fully open-source! Here you go:

Jim Fan2 years ago

MimicGen: our generative action framework @AjayMandlekar. The code is open-source for robot arms, but we will have another version for humanoid and 5-finger hands.

Jim Fan2 years ago

We are building a state-of-the-art Apple Vision Pro -> humanoid robot stack. @xiaolonw and his students laid the foundation. Check out their works!

Jim Fan2 years ago

GEAR lab is hiring! We want the best roboticists in the world to join us on this moon-landing mission to solve physical AGI.

Jim Fan2 years ago

Finally, I'm attending SIGGRAPH this week! Watch Jensen's keynote yesterday. He cannot hide his excitement about Project GR00T and robot foundation models!

Yuchen Jin2 years ago

Great work on generating synthetic data for robots! Congrats

Yunsheng Tian2 years ago

Great progress! How do you handle real-to-sim? I.e. transferring the demonstration data from real robots to simulation

Amira Zairi2 years ago

Wow! Absolutely amazing

Maxin 🇬🇭2 years ago

@threadreaderapp unroll

Thread Reader App2 years ago

@DrJimFan @Maxin_check Hallo, please find the unroll here: Share this if you think it's interesting. 🤖

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Synthetic data will provide the next trillion tokens to fuel our hungry models. I'm excited to announce MimicGen: massively scaling up data pipeline for robot learning! We multiply high-quality human data in simulation with digital twins. Using 50,000 training episodes across 18 tasks, multiple simulators, and even in the real-world! The idea is simple: 1. Humans tele-operate the robot to complete a task. It is extremely high-quality but also very slow and expensive. 2. We create a digital twin of the robot and the scene in high-fidelity, GPU-accelerated simulation. 3. We can now move objects around, replace with new assets, and even change the robot hand - basically augment the training data with procedural generation. 4. Export the successful episodes, and feed that to a neural network! You now have an near-infinite stream of data. One of the key reasons that robotics lags far behind other AI fields is the lack of data: you cannot scrape control signals from the internet. They simply don't exist in-the-wild. MimicGen shows the power of synthetic data and simulation to keep our scaling laws alive. I believe this principle apply beyond robotics. We are quickly exhausting the high-quality, real tokens from the web. Artificial intelligence from artificial data will be the way forward. We are big fans of the OSS community. As usual, we open-source everything, including the generated dataset! - Website: - Paper: - Dataset is hosted on HuggingFace (thanks AK!!): - Code: MimicGen is led by Ajay Mandlekar, deep dive in the thread:

Synthetic data will provide the next trillion tokens to fuel our hungry models. I'm excited to announce MimicGen: massively scaling up data pipeline for robot learning! We multiply high-quality human data in simulation with digital twins. Using 50,000 training episodes across 18 tasks, multiple simulators, and even in the real-world! The idea is simple: 1. Humans tele-operate the robot to complete a task. It is extremely high-quality but also very slow and expensive. 2. We create a digital twin of the robot and the scene in high-fidelity, GPU-accelerated simulation. 3. We can now move objects around, replace with new assets, and even change the robot hand - basically augment the training data with procedural generation. 4. Export the successful episodes, and feed that to a neural network! You now have an near-infinite stream of data. One of the key reasons that robotics lags far behind other AI fields is the lack of data: you cannot scrape control signals from the internet. They simply don't exist in-the-wild. MimicGen shows the power of synthetic data and simulation to keep our scaling laws alive. I believe this principle apply beyond robotics. We are quickly exhausting the high-quality, real tokens from the web. Artificial intelligence from artificial data will be the way forward. We are big fans of the OSS community. As usual, we open-source everything, including the generated dataset! - Website: - Paper: - Dataset is hosted on HuggingFace (thanks AK!!): - Code: MimicGen is led by Ajay Mandlekar, deep dive in the thread:

Jim Fan

332,238 views • 2 years ago

Robotics has a data scarcity problem - you simply can't scrape robot control data from webpages. Introducing GR00T-Mimic and GR00T-Gen: using both Graphics 1.0 & Graphics 2.0 to multiply your robot datasets by 1,000,000x. We trade compute for synthetic data, so we are not capped by the fundamental physical limit of 24 hrs/robot/day. Robotics is right in the thick of Moravec's paradox: things that are easy for humans turn out to be incredibly hard for machines. We are crushing the Moravec's paradox, one token at a time. > Graphics 1.0: Isaac simulators with manually written, GPU-accelerated physics and rendering equations. > Graphics 2.0: big neural nets (Cosmos) that repaint the pixels from sim textures to real, given an open-ended prompt. Robot data multiplier workflow: 1. GR00T-Teleop: use XR device like Apple Vision Pro to map human finger poses to humanoid hands. 2. GR00T-Mimic: given a human-collected task demonstration, we augment the actions in Isaac and filter out ones that fail the task. 3. GR00T-Gen: apply Graphics 1.0 and then Graphics 2.0 to produce tons of visual variations. Join us to build Physical AI together! Job application links in thread:

Robotics has a data scarcity problem - you simply can't scrape robot control data from webpages. Introducing GR00T-Mimic and GR00T-Gen: using both Graphics 1.0 & Graphics 2.0 to multiply your robot datasets by 1,000,000x. We trade compute for synthetic data, so we are not capped by the fundamental physical limit of 24 hrs/robot/day. Robotics is right in the thick of Moravec's paradox: things that are easy for humans turn out to be incredibly hard for machines. We are crushing the Moravec's paradox, one token at a time. > Graphics 1.0: Isaac simulators with manually written, GPU-accelerated physics and rendering equations. > Graphics 2.0: big neural nets (Cosmos) that repaint the pixels from sim textures to real, given an open-ended prompt. Robot data multiplier workflow: 1. GR00T-Teleop: use XR device like Apple Vision Pro to map human finger poses to humanoid hands. 2. GR00T-Mimic: given a human-collected task demonstration, we augment the actions in Isaac and filter out ones that fail the task. 3. GR00T-Gen: apply Graphics 1.0 and then Graphics 2.0 to produce tons of visual variations. Join us to build Physical AI together! Job application links in thread:

Jim Fan

163,670 views • 1 year ago

I don’t know if we live in a Matrix, but I know for sure that robots will spend most of their lives in simulation. Let machines train machines. I’m excited to introduce DexMimicGen, a massive-scale synthetic data generator that enables a humanoid robot to learn complex skills from only a handful of human demonstrations. Yes, as few as 5! DexMimicGen addresses the biggest pain point in robotics: where do we get data? Unlike with LLMs, where vast amounts of texts are readily available, you cannot simply download motor control signals from the internet. So researchers teleoperate the robots to collect motion data via XR headsets. They have to repeat the same skill over and over and over again, because neural nets are data hungry. This is a very slow and uncomfortable process. At NVIDIA, we believe the majority of high-quality tokens for robot foundation models will come from simulation. What DexMimicGen does is to trade GPU compute time for human time. It takes one motion trajectory from human, and multiplies into 1000s of new trajectories. A robot brain trained on this augmented dataset will generalize far better in the real world. Think of DexMimicGen as a learning signal amplifier. It maps a small dataset to a large (de facto infinite) dataset, using physics simulation in the loop. In this way, we free humans from babysitting the bots all day. The future of robot data is generative. The future of the entire robot learning pipeline will also be generative. 🧵

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Jim Fan

165,246 views • 1 year ago

Excited to announce GR00T N1, the world’s first open foundation model for humanoid robots! We are on a mission to democratize Physical AI. The power of general robot brain, in the palm of your hand - with only 2B parameters, N1 learns from the most diverse physical action dataset ever compiled and punches above its weight: - Real humanoid teleoperation data. - Large-scale simulation data: we are open-sourcing 300K+ trajectories! - Neural trajectories: we apply SOTA video generation models to “hallucinate” new synthetic data that features accurate physics in pixels. Using Jensen’s words, “systematically infinite data”! - Latent actions: we develop novel algorithms to extract action tokens from in-the-wild human videos and neural generated videos. GR00T N1 is a single end-to-end neural net, from photons to actions: - Vision-Language Model (System 2) that interprets the physical world through vision and language instructions, enabling robots to reason about their environment and instructions, and plan the right actions. - Diffusion Transformer (System 1) that “renders” smooth and precise motor actions at 120 Hz, executing the latent plan made by System 2. We deploy N1 on GR1 robot, 1X Neo robot, and a large collection of simulation benchmarks. N1 achieves up to +30% boost in diverse manipulation tasks for household and industrial settings. While humanoid robots are the main focus of N1, our model also supports cross-embodiment. We finetune it to work on the $110 HuggingFace LeRobot SO100 robot arm! Open robot brain runs on open hardware. Sounds just right. Let’s solve robotics, together, one token at a time. Links to our Whitepaper, Github repo, HuggingFace model, and open dataset page in the thread: 🧵

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Jim Fan

466,333 views • 1 year ago

TWIST: a real-time teleoperation system for humanoid robots to mimic whole-body motions. Reference motion data is generated by retargeting human motion-capture data to the robot. Then, the controller is trained in simulation using reinforcement learning and behavior cloning.

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The Humanoid Hub

46,715 views • 1 year ago

Tired of teleoperation? One human video → 1,000s of robot demos. (📍GitHub ) Scaling Robot Data Without Dynamics Simulation or Robot Hardware Real2Render2Real (R2R2R) is a new way to scale robot data without physics simulation or hardware. You take a phone scan + a single monocular human demo. It tracks the motion, renders photorealistic scenes, and generates diverse, robot-agnostic trajectories ready for training. > No teleop, no sim, no robot, just a phone and a video > Train VLA models and diffusion policies directly on the output > Supports multiple robot embodiments with kinematic consistency > 1000s of demos in 1/27 the time of real-world collection Thank you, Max Fu, for sharing!! Project: Paper: Code coming soon: It shows that with the right pipeline, you can scale robot learning data without touching a robot. One of the most interesting directions in scalable robotics today. —— Weekly robotics and AI insights. Subscribe free:

Tired of teleoperation? One human video → 1,000s of robot demos. (📍GitHub ) Scaling Robot Data Without Dynamics Simulation or Robot Hardware Real2Render2Real (R2R2R) is a new way to scale robot data without physics simulation or hardware. You take a phone scan + a single monocular human demo. It tracks the motion, renders photorealistic scenes, and generates diverse, robot-agnostic trajectories ready for training. > No teleop, no sim, no robot, just a phone and a video > Train VLA models and diffusion policies directly on the output > Supports multiple robot embodiments with kinematic consistency > 1000s of demos in 1/27 the time of real-world collection Thank you, Max Fu, for sharing!! Project: Paper: Code coming soon: It shows that with the right pipeline, you can scale robot learning data without touching a robot. One of the most interesting directions in scalable robotics today. —— Weekly robotics and AI insights. Subscribe free:

Ilir Aliu

42,864 views • 6 months ago

Helix is now learning directly from human video data We have already trained on data collected in the real world, including Brookfield residential units To our knowledge, this is the first instance of a humanoid robot learning navigation end-to-end using only human video

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Figure

46,041 views • 10 months ago

We RL'ed humanoid robots to Cristiano Ronaldo, LeBron James, and Kobe Byrant! These are neural nets running on real hardware at our GEAR lab. Most robot demos you see online speed videos up. We actually *slow them down* so you can enjoy the fluid motions. I'm excited to announce "ASAP", a "real2sim2real" model that masters extremely smooth and dynamic motions for humanoid whole body control. We pretrain the robot in simulation first, but there is a notorious "sim2real" gap: it's very difficult for hand-engineered physics equations to match real world dynamics. Our fix is simple: just deploy a pretrained policy on real hardware, collect data, and replay the motion in sim. The replay will obviously have many errors, but that gives a rich signal to compensate for the physics discrepancy. Use another neural net to learn the delta. Basically, we "patch up" a traditional physics engine, so that the robot can experience almost the real world at scale in GPUs. The future is hybrid simulation: combine the power of classical sim engines refined over decades and the uncanny ability of modern NNs to capture a messy world.

We RL'ed humanoid robots to Cristiano Ronaldo, LeBron James, and Kobe Byrant! These are neural nets running on real hardware at our GEAR lab. Most robot demos you see online speed videos up. We actually slow them down so you can enjoy the fluid motions. I'm excited to announce "ASAP", a "real2sim2real" model that masters extremely smooth and dynamic motions for humanoid whole body control. We pretrain the robot in simulation first, but there is a notorious "sim2real" gap: it's very difficult for hand-engineered physics equations to match real world dynamics. Our fix is simple: just deploy a pretrained policy on real hardware, collect data, and replay the motion in sim. The replay will obviously have many errors, but that gives a rich signal to compensate for the physics discrepancy. Use another neural net to learn the delta. Basically, we "patch up" a traditional physics engine, so that the robot can experience almost the real world at scale in GPUs. The future is hybrid simulation: combine the power of classical sim engines refined over decades and the uncanny ability of modern NNs to capture a messy world.

Jim Fan

566,544 views • 1 year ago

$After 8 months of building in stealth and testing our infrastructure on 10000+ hours of real-world data and hundreds of unique environments, we're bringing FPV Labs into the open today. FPV Labs started with the following bet - if human data proves to be the underlying factor that determines scaling laws in general-purpose robotics, it will trigger the largest economic transformation in human history, and the underlying infrastructure that captures that data will determine how fast we get there. We will achieve this by building the full-stack infrastructure for capturing, processing, transferring, and evaluating human experience into spatial, temporal, and semantic knowledge for machines. Despite all the research novelty behind ChatGPT, its success can be attributed to one foundational fact - the scaling law of transformers. We believe the same dynamics have made their way into robotics. Recent studies showed task completion rates jumping from 30% to 70% when human demonstration data scaled from 1,000 to 20,000 hours, a log-linear trend that mirrors exactly what we saw in language and vision. Seeing these emergent signs of scaling law curves in robotics, we believe we are entering the era of general-purpose robotics policies, which makes the next few years the most exciting time in the history of this field. But the library of physical interactions required to train general-purpose robot policies does not exist yet. Over the last 8 months, we've seen dozens of companies emerge in this space. We were really happy to see new companies pushing this space forward, but we also saw the same pattern repeat: every egocentric data company was making some tradeoffs between quality, scale, and diversity. We have built FPV labs on the core principle that high-quality data is orders of magnitude more valuable than sheer volume. Case in point, self-driving cars collect thousands of hours of data per day, but only a small fraction of that data is actually useful for training better models. Several studies, like RT-2, have shown that as little as 1% of data improves as much as 25% on task success. The quality and diversity of data matter a lot more than scale, so there is clearly a power law curve in the downstream impact of data. We've spent months obsessing over data quality by building our stack, discarding it, rebuilding it, and iterating until we found a formula that doesn't compromise downstream quality at scale. We believe the downstream impact here is far more profound than most people realize. Workers globally are paid around $60 trillion per year in aggregate, and a lion's share of that compensation goes to physical labor - tasks that require navigating real spaces, manipulating real objects, and negotiating the infinite variability of the physical world. Human-to-robot transfer will be one of the most important infrastructures that will shape our society in the near future, and if it works, the economic impact will dwarf every technology transition that came before it in an exponential manner and lead to the creation of goods and services we can’t imagine today. Our mission is to lay the groundwork for us to transition into this future - the future of abundance. We are deeply grateful to our earliest believers, Paras Chopra and Lossfunk, who played a critical role in shaping our thinking.$

After 8 months of building in stealth and testing our infrastructure on 10000+ hours of real-world data and hundreds of unique environments, we're bringing FPV Labs into the open today. FPV Labs started with the following bet - if human data proves to be the underlying factor that determines scaling laws in general-purpose robotics, it will trigger the largest economic transformation in human history, and the underlying infrastructure that captures that data will determine how fast we get there. We will achieve this by building the full-stack infrastructure for capturing, processing, transferring, and evaluating human experience into spatial, temporal, and semantic knowledge for machines. Despite all the research novelty behind ChatGPT, its success can be attributed to one foundational fact - the scaling law of transformers. We believe the same dynamics have made their way into robotics. Recent studies showed task completion rates jumping from 30% to 70% when human demonstration data scaled from 1,000 to 20,000 hours, a log-linear trend that mirrors exactly what we saw in language and vision. Seeing these emergent signs of scaling law curves in robotics, we believe we are entering the era of general-purpose robotics policies, which makes the next few years the most exciting time in the history of this field. But the library of physical interactions required to train general-purpose robot policies does not exist yet. Over the last 8 months, we've seen dozens of companies emerge in this space. We were really happy to see new companies pushing this space forward, but we also saw the same pattern repeat: every egocentric data company was making some tradeoffs between quality, scale, and diversity. We have built FPV labs on the core principle that high-quality data is orders of magnitude more valuable than sheer volume. Case in point, self-driving cars collect thousands of hours of data per day, but only a small fraction of that data is actually useful for training better models. Several studies, like RT-2, have shown that as little as 1% of data improves as much as 25% on task success. The quality and diversity of data matter a lot more than scale, so there is clearly a power law curve in the downstream impact of data. We've spent months obsessing over data quality by building our stack, discarding it, rebuilding it, and iterating until we found a formula that doesn't compromise downstream quality at scale. We believe the downstream impact here is far more profound than most people realize. Workers globally are paid around $60 trillion per year in aggregate, and a lion's share of that compensation goes to physical labor - tasks that require navigating real spaces, manipulating real objects, and negotiating the infinite variability of the physical world. Human-to-robot transfer will be one of the most important infrastructures that will shape our society in the near future, and if it works, the economic impact will dwarf every technology transition that came before it in an exponential manner and lead to the creation of goods and services we can’t imagine today. Our mission is to lay the groundwork for us to transition into this future - the future of abundance. We are deeply grateful to our earliest believers, Paras Chopra and Lossfunk, who played a critical role in shaping our thinking.

Abhishek Anand

81,839 views • 4 months ago

Physics-based Motion Retargeting from Sparse Inputs paper page: Avatars are important to create interactive and immersive experiences in virtual worlds. One challenge in animating these characters to mimic a user's motion is that commercial AR/VR products consist only of a headset and controllers, providing very limited sensor data of the user's pose. Another challenge is that an avatar might have a different skeleton structure than a human and the mapping between them is unclear. In this work we address both of these challenges. We introduce a method to retarget motions in real-time from sparse human sensor data to characters of various morphologies. Our method uses reinforcement learning to train a policy to control characters in a physics simulator. We only require human motion capture data for training, without relying on artist-generated animations for each avatar. This allows us to use large motion capture datasets to train general policies that can track unseen users from real and sparse data in real-time. We demonstrate the feasibility of our approach on three characters with different skeleton structure: a dinosaur, a mouse-like creature and a human. We show that the avatar poses often match the user surprisingly well, despite having no sensor information of the lower body available. We discuss and ablate the important components in our framework, specifically the kinematic retargeting step, the imitation, contact and action reward as well as our asymmetric actor-critic observations. We further explore the robustness of our method in a variety of settings including unbalancing, dancing and sports motions.

AK

106,527 views • 3 years ago

World Labs CEO Dr. Fei-Fei Li & SceniX Co-Founder Yunzhu Li on the data bottleneck in robotics and how world models help: "The lack of data in training, the lack of data in evaluation, this is very, very different from language models, where data is abundant on the internet." "And we know that in order for robotics to work, we have to somehow unlock the power of scaling law. But where does that come from?" "It's a profound problem that everybody's battling with in robotics." "We see a lot of unlock in being able to do this whole process through the modeling of the environments." "Being able to create these digital worlds... that's just going to unlock so much more potential for being able to replace all the costly and the unsafe data in the real environments with the data generated from the worlds for robots to be able to do scalable learning and evaluations." Fei-Fei Li Yunzhu Li martin_casado

World Labs CEO Dr. Fei-Fei Li & SceniX Co-Founder Yunzhu Li on the data bottleneck in robotics and how world models help: "The lack of data in training, the lack of data in evaluation, this is very, very different from language models, where data is abundant on the internet." "And we know that in order for robotics to work, we have to somehow unlock the power of scaling law. But where does that come from?" "It's a profound problem that everybody's battling with in robotics." "We see a lot of unlock in being able to do this whole process through the modeling of the environments." "Being able to create these digital worlds... that's just going to unlock so much more potential for being able to replace all the costly and the unsafe data in the real environments with the data generated from the worlds for robots to be able to do scalable learning and evaluations." Fei-Fei Li Yunzhu Li martin_casado

a16z

70,586 views • 11 days ago

Today is the beginning of our moonshot to solve embodied AGI in the physical world. I’m so excited to announce Project GR00T, our new initiative to create a general-purpose foundation model for humanoid robot learning. The GR00T model will enable a robot to understand multimodal instructions, such as language, video, and demonstration, and perform a variety of useful tasks. We are collaborating with many leading humanoid companies around the world, so that GR00T may transfer across embodiments and help the ecosystem thrive. GR00T is born on NVIDIA’s deep technology stack. We simulate in Isaac Lab (new app on Omniverse Isaac Sim for humanoid learning), train on OSMO (new compute orchestration system to scale up models), and deploy to Jetson Thor (new edge GPU chip designed to power GR00T). Announced in Jensen's keynote, Project GR00T is a cornerstone for the “Foundation Agent” roadmap of the newly founded GEAR Lab. At GEAR, we are building generally capable agents that learn to act skillfully in many worlds, virtual and real. See if you can spot "GEAR" in the video ;) Join us on the journey to land on the moon.

Today is the beginning of our moonshot to solve embodied AGI in the physical world. I’m so excited to announce Project GR00T, our new initiative to create a general-purpose foundation model for humanoid robot learning. The GR00T model will enable a robot to understand multimodal instructions, such as language, video, and demonstration, and perform a variety of useful tasks. We are collaborating with many leading humanoid companies around the world, so that GR00T may transfer across embodiments and help the ecosystem thrive. GR00T is born on NVIDIA’s deep technology stack. We simulate in Isaac Lab (new app on Omniverse Isaac Sim for humanoid learning), train on OSMO (new compute orchestration system to scale up models), and deploy to Jetson Thor (new edge GPU chip designed to power GR00T). Announced in Jensen's keynote, Project GR00T is a cornerstone for the “Foundation Agent” roadmap of the newly founded GEAR Lab. At GEAR, we are building generally capable agents that learn to act skillfully in many worlds, virtual and real. See if you can spot "GEAR" in the video ;) Join us on the journey to land on the moon.

Jim Fan

1,077,083 views • 2 years ago

An interactive world model developed by NVIDIA in collaboration with academic partners. - DreamDojo turns egocentric human video data into physical intelligence. - Human data is more scalable than robotics data but lacks action labels. - To solve this, a dedicated action model extracts latent actions by identifying physics and motion deltas between frames. Training - A massive 44k hours of video data are used for pre-training. - Post-training on small-scale robot datasets maps human physics to specific robot embodiments. - An additional distillation stage converts the model into an autoregressive, few-step diffusion model, enabling real-time, action-controllable simulation. Primary Use Cases - Live Teleoperation: Controlling a robot inside a world simulation in real-time. - Model-based Planning: Previewing and curating the best actions for improved success. - Policy Evaluation: Testing robot policies in realistic, out-of-distribution scenarios. Everything that's open-sourced: weights, code, post-training dataset, eval set, and details to reproduce.

An interactive world model developed by NVIDIA in collaboration with academic partners. - DreamDojo turns egocentric human video data into physical intelligence. - Human data is more scalable than robotics data but lacks action labels. - To solve this, a dedicated action model extracts latent actions by identifying physics and motion deltas between frames. Training - A massive 44k hours of video data are used for pre-training. - Post-training on small-scale robot datasets maps human physics to specific robot embodiments. - An additional distillation stage converts the model into an autoregressive, few-step diffusion model, enabling real-time, action-controllable simulation. Primary Use Cases - Live Teleoperation: Controlling a robot inside a world simulation in real-time. - Model-based Planning: Previewing and curating the best actions for improved success. - Policy Evaluation: Testing robot policies in realistic, out-of-distribution scenarios. Everything that's open-sourced: weights, code, post-training dataset, eval set, and details to reproduce.

The Humanoid Hub

11,575 views • 5 months ago

Robots are the bottleneck in scaling robotics, and learning from human video promises to solve it. But how can chaotic human data ever measure up to sanitized, lab-made teleoperation data? Introducing Do as I Do: establishing a much needed correspondence between human videos and dexterous robot data. Some fun insights below: 🧵

Robots are the bottleneck in scaling robotics, and learning from human video promises to solve it. But how can chaotic human data ever measure up to sanitized, lab-made teleoperation data? Introducing Do as I Do: establishing a much needed correspondence between human videos and dexterous robot data. Some fun insights below: 🧵

Mahi Shafiullah 🏠🤖

94,304 views • 1 month ago

Training humanoid robots on teleoperation alone won’t scale, says Rhoda AI CEO Jagdeep Singh. Unlike self-driving cars - which basically have four actuators (left, right, speed up, and slow down) and operate in a single environment (the road) - humanoid robots are completely different: "You're dealing with the full dexterity of a human hand - 20 degrees of freedom per hand. Every object is different. Every type of task is different." The problem isn't just the quantity of data - the bigger issue is diversity in the data, and it's why many humanoid robot demos will struggle to adapt to the real world: "If all the data you have is data that you've intentionally collected, then you almost by definition haven't seen the corner cases. You haven't seen all those edge scenarios that cause failure." Jagdeep says teleoperation is useful for fine-tuning robot behavior, but for pretraining, it's completely inadequate.

Training humanoid robots on teleoperation alone won’t scale, says Rhoda AI CEO Jagdeep Singh. Unlike self-driving cars - which basically have four actuators (left, right, speed up, and slow down) and operate in a single environment (the road) - humanoid robots are completely different: "You're dealing with the full dexterity of a human hand - 20 degrees of freedom per hand. Every object is different. Every type of task is different." The problem isn't just the quantity of data - the bigger issue is diversity in the data, and it's why many humanoid robot demos will struggle to adapt to the real world: "If all the data you have is data that you've intentionally collected, then you almost by definition haven't seen the corner cases. You haven't seen all those edge scenarios that cause failure." Jagdeep says teleoperation is useful for fine-tuning robot behavior, but for pretraining, it's completely inadequate.

TBPN

19,218 views • 5 months ago

Real-world robot data is expensive and slow to collect, creating a major challenge for humanoid development. 🤖 The NVIDIA GR00T N1.6 open vision language action model is pre-trained on a diverse mix of data, including thousands of hours of Stanford Vision and Learning Lab’s BEHAVIOR simulation data, which covers long-horizon everyday manipulation tasks. This diverse training is the key to robust cross-embodiment performance and real-world adaptability. 🌍 Read the blog 🔗

Real-world robot data is expensive and slow to collect, creating a major challenge for humanoid development. 🤖 The NVIDIA GR00T N1.6 open vision language action model is pre-trained on a diverse mix of data, including thousands of hours of Stanford Vision and Learning Lab’s BEHAVIOR simulation data, which covers long-horizon everyday manipulation tasks. This diverse training is the key to robust cross-embodiment performance and real-world adaptability. 🌍 Read the blog 🔗

NVIDIA Robotics

13,479 views • 6 months ago

Over the last few months, we’ve been thinking about how to learn from “off-domain” data - data from non-robot sources like video or simulation. These data sources are not quite good enough to learn policies (even monolithic VLA models) directly, but they still contain lots of information that can be useful for generalizable robot control. How can we develop robot learning models that are able to make use of this type of data for generalizable control? In new work, that we call HAMSTER, we show that VLMs can be useful for enabling robotic learning from off-domain data, but specifically when used through hierarchical VLA architectures. We show that this class of models can learn generalizable robot policies for the real world from large-scale, off-domain data. A 🧵 (1/10)

Over the last few months, we’ve been thinking about how to learn from “off-domain” data - data from non-robot sources like video or simulation. These data sources are not quite good enough to learn policies (even monolithic VLA models) directly, but they still contain lots of information that can be useful for generalizable robot control. How can we develop robot learning models that are able to make use of this type of data for generalizable control? In new work, that we call HAMSTER, we show that VLMs can be useful for enabling robotic learning from off-domain data, but specifically when used through hierarchical VLA architectures. We show that this class of models can learn generalizable robot policies for the real world from large-scale, off-domain data. A 🧵 (1/10)

Abhishek Gupta

11,994 views • 1 year ago

NVIDIA just announced EgoScale 🤖🧠 NVIDIA Research has uncovered a log-linear scaling law for robot dexterity by pretraining VLA models on over 20,000 hours of egocentric human video This massive dataset is 20 times larger than previous efforts and proves that robot intelligence follows a predictable path: the more human data, the lower the loss The secret is a simple recipe combining large-scale human pretraining with a small amount of aligned human-robot mid-training to bridge the gap In testing, this method boosted the average success rate by 54% on a 22-DoF robotic hand compared to policies built without pretraining EgoScale also enables one-shot task adaptation and works across different hardware, suggesting that human motion is a universal motor prior for robots Website: Paper: Source: NVIDIA Research #Robot #Humanoid #Robotics #AI #EmbodiedAI #PhysicalAI #NVIDIA #EgoScale #GR00T

NVIDIA just announced EgoScale 🤖🧠 NVIDIA Research has uncovered a log-linear scaling law for robot dexterity by pretraining VLA models on over 20,000 hours of egocentric human video This massive dataset is 20 times larger than previous efforts and proves that robot intelligence follows a predictable path: the more human data, the lower the loss The secret is a simple recipe combining large-scale human pretraining with a small amount of aligned human-robot mid-training to bridge the gap In testing, this method boosted the average success rate by 54% on a 22-DoF robotic hand compared to policies built without pretraining EgoScale also enables one-shot task adaptation and works across different hardware, suggesting that human motion is a universal motor prior for robots Website: Paper: Source: NVIDIA Research #Robot #Humanoid #Robotics #AI #EmbodiedAI #PhysicalAI #NVIDIA #EgoScale #GR00T

RoboHub🤖

43,752 views • 5 months ago

This year is truly the dawn of the “robot data oil” rush--spawning all kinds of pick-and-shovel tools to dig it up. X Square Robot, which offers in-home humanoid cleaning services, has just launched a full UMI/Egocentric data collection system: QUANXTA Zero. Real robots delivering actual on-site services is one powerful data collection method. Meanwhile, bodiless (no physical robot) UMI/Ego-centric( human-centric)data pipelines are also surging in popularity. Well,everyone’s racing to distill the physical world and extract the data that truly matters for advancing robot intelligence.

This year is truly the dawn of the “robot data oil” rush--spawning all kinds of pick-and-shovel tools to dig it up. X Square Robot, which offers in-home humanoid cleaning services, has just launched a full UMI/Egocentric data collection system: QUANXTA Zero. Real robots delivering actual on-site services is one powerful data collection method. Meanwhile, bodiless (no physical robot) UMI/Ego-centric( human-centric)data pipelines are also surging in popularity. Well,everyone’s racing to distill the physical world and extract the data that truly matters for advancing robot intelligence.

CyberRobo

21,950 views • 1 month ago

We are excited to share EMDB, a novel dataset of 3D human poses for in-the-wild monocular videos, including global trajectories. Data and toolkit code is now available. More details in the thread below. Project Page:

We are excited to share EMDB, a novel dataset of 3D human poses for in-the-wild monocular videos, including global trajectories. Data and toolkit code is now available. More details in the thread below. Project Page:

AIT Lab

14,613 views • 2 years ago