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Introduce HumanPlus - Shadowing part Humanoids are born for using human data. We build a real-time shadowing system using a single RGB camera and a whole-body policy for cloning human motion. Examples: - boxing🥊 - playing the piano🎹/ping pong - tossing - typing Open-sourced!

Zipeng Fu

13,211 subscribers

230,388 просмотров • 2 лет назад •via X (Twitter)

Игры Наука и технологии Образование

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Комментарии: 10

Фото профиля Zipeng Fu

Zipeng Fu2 лет назад

Which hardware platform should HumanPlus be embodied on? We build our own 33-DoF humanoid with two dexterous hands using components: - Inspire-Robots RH56DFX hands - @UnitreeRobotics H1 robot - @ROBOTIS Dynamixel motors - @Razer webcams We open-source our hardware design.

Фото профиля Zipeng Fu

Zipeng Fu2 лет назад

Naively copying joints from humans to humanoids does not work due to gravity and different actuations. We train a transformer-based whole-body RL policy in IsaacGym simulation with realistic physics using AMASS dataset containing 40 hours of human motion:

Фото профиля Zipeng Fu

Zipeng Fu2 лет назад

To retarget from humans to humanoids, we copy the corresponding Euler angles from SMPL-X to our humanoid model. We use open-sourced SOTA human pose and hand estimation methods (thanks!) - WHAM for body: - HaMeR for hands:

Фото профиля Zipeng Fu

Zipeng Fu2 лет назад

Compared with other teleoperation methods, shadowing - is affordable - requires only 1 human operator - avoids singularities - natively supports whole-body control

Фото профиля Zipeng Fu

Zipeng Fu2 лет назад

Shadowing is an efficient data collection pipeline. We then perform supervised behavior cloning to train skill policies using egocentric vision, allowing humanoids to complete different tasks autonomously by imitating human skills.

Фото профиля Zipeng Fu

Zipeng Fu2 лет назад

This project is not possible without our team of experts, covering from computer graphics to robot learning to robot hardware: - co-leads: @qingqing_zhao_ @Qi_Wu577 - advisors: @chelseabfinn @GordonWetzstein project website: hardware: code:

Фото профиля Yuchen Jin

Yuchen Jin2 лет назад

how much can I buy it? I need ten of these buddies shadowing me

Фото профиля Michael Black

Michael Black2 лет назад

Nice!

Фото профиля Boris Belousov

Boris Belousov2 лет назад

Very impressive work!

Фото профиля Yi Li

Yi Li2 лет назад

very impressive!

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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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