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HDMI (HumanoiD iMitation for Interaction) is a framework enabling humanoid robots to learn whole-body object interaction skills from monocular RGB human videos. It extracts and retargets human poses and object trajectories using GVHMR and LocoMujoco, building reference datasets with contact annotations. The data is used to train an RL... show more

The Humanoid Hub

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17,395 görüntüleme • 9 ay önce •via X (Twitter)

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HumanX: a scalable framework that converts single monocular human videos into agile, generalizable interaction skills for humanoid robots without task-specific rewards. Core parts: - XGen: retargets human motion + synthesizes diverse physically plausible training data (via physics-driven object trajectories and augmentation). - XMimic: unified imitation pipeline for robust generalization. Shows promising results for both Blind (no external sensors) and MoCap modes.

HumanX: a scalable framework that converts single monocular human videos into agile, generalizable interaction skills for humanoid robots without task-specific rewards. Core parts: - XGen: retargets human motion + synthesizes diverse physically plausible training data (via physics-driven object trajectories and augmentation). - XMimic: unified imitation pipeline for robust generalization. Shows promising results for both Blind (no external sensors) and MoCap modes.

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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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RL-trained in-hand skills, such as grasp stability and object rotation are used to assist teleoperation. Teleoperation data is then used to train a VLA that fuses force and tactile feedback to generate actions. Humanoid hardware: Sharpa Paper:

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We can convert human videos to robot hand-object interaction trajectories in 4D. Enjoy! Paper: Website: Code: Authors:Bhawna Paliwal,Haritheja,Will Liang, Pieter Abbeel , Mahi Shafiullah 🏠🤖 , Jitendra MALIK

We can convert human videos to robot hand-object interaction trajectories in 4D. Enjoy! Paper: Website: Code: Authors:Bhawna Paliwal,Haritheja,Will Liang, Pieter Abbeel , Mahi Shafiullah 🏠🤖 , Jitendra MALIK

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Shanghai’s Moya humanoid robot walks with human-like motion, shows realistic facial expressions, and is designed for natural interaction in healthcare and service roles.

Shanghai’s Moya humanoid robot walks with human-like motion, shows realistic facial expressions, and is designed for natural interaction in healthcare and service roles.

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