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🕸️ Introducing SPIDER — Scalable Physics-Informed Dexterous Retargeting! A dynamically feasible, cross-embodiment retargeting framework for BOTH humanoids 🤖 and dexterous hands ✋. From human motion → sim → real robots, at scale. 🔗 Website: 🧵 1/n

Chaoyi Pan

1,105 subscribers

66,077 次观看 • 11 个月前 •via X (Twitter)

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Chaoyi Pan 的头像

Chaoyi Pan11 个月前

🧵 2/n Retargeting human motion is hard: embodiment gap, missing forces, noisy data. IK fails ❌, RL is costly ❌. SPIDER converts kinematic human demos into dynamically feasible robot trajectories using physics-informed sampling + virtual contact guidance. 👇 Pipeline

Chaoyi Pan 的头像

Chaoyi Pan11 个月前

🧵 3/n Because SPIDER is grounded with physics, the generated motions are directly executable on real hardware—no tuning. Zero robot demos. No RL training. Just human → physics → real robot.

Chaoyi Pan 的头像

Chaoyi Pan11 个月前

🧵 4/n SPIDER supports diverse embodiments: 🤖 humanoid + ✋ dexterous hand 📦 2.4M robot-feasible frames 🤖 9 embodiments 🧊 103 objects ⏱️ 800 hrs of data

Chaoyi Pan 的头像

Chaoyi Pan11 个月前

🧵 5/n SPIDER is also a data engine: We vary object size, states, and scenes to produce massive, physics-valid training data.

Chaoyi Pan 的头像

Chaoyi Pan11 个月前

🧵 6/n For more details, please refer to: 🔗 Website: 📄 Paper: Huge thanks to the team at FAIR + CMU! We hope SPIDER pushes scalable, physics-grounded retargeting forward 🕷️🤖

C. Zhang 的头像

C. Zhang11 个月前

jc-bao🦾

Chaoyi Pan 的头像

Chaoyi Pan11 个月前

@ChongZitaZhang Thanks Chong!

Jingyun Yang 的头像

Jingyun Yang11 个月前

Amazing work. Congrats @ChaoyiPan!

Chaoyi Pan 的头像

Chaoyi Pan11 个月前

Thanks, Jingyun!

Reza Sayar 的头像

Reza Sayar11 个月前

@pablovelagomez1 👀

Weishuai Zeng 的头像

Weishuai Zeng11 个月前

Really impressive! When kinematic-based retargeter fails to preserve necessary physical information(like contact during interaction) and neural-based retargeter is hard to directly train, such physics-aware retarger becomes as the best option. Looking forward to the release!

Chaoyi Pan 的头像

Chaoyi Pan11 个月前

Thanks Weishuai!

Wenli Xiao 的头像

Wenli Xiao11 个月前

Very impressive work, congrats jc-bao!

Chaoyi Pan 的头像

Chaoyi Pan11 个月前

Thank you Wenli!

Shucheng Kang 的头像

Shucheng Kang11 个月前

Congratulations!

Guanqi He 的头像

Guanqi He11 个月前

Dynamic feasible retargeting 🔥congrats jc-bao! 🦾！

Reza Sayar 的头像

Reza Sayar11 个月前

👏👏👏🙏🙏

Winston Gao 的头像

Winston Gao11 个月前

Impressive work! Hopefully one day we can retarget robot-spider motions using SPIDER!

Chaoyi Pan 的头像

Chaoyi Pan11 个月前

haha, we will see ;)

Obligate Chronovore 的头像

Obligate Chronovore11 个月前

...this doesn't seem to work worth shit, why are you all spamming it so hard?

Siddharth Ancha 的头像

Siddharth Ancha11 个月前

Really cool work!! 👏👏 Since you perform dynamics-level retargeting using sampling-based MPC that generates actions, I wonder if instead of "RL policy training" (Sec 4.2) you could just distill MPC into a policy using imitation learning / DAgger?

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