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Presenting Unsupervised Actuator Nets (UANs) that push the limits of agile whole-body control without the need for reward shaping! ⚡️ UANs reduce the sim2real gap in robot's motors removing the need for reward design to bridge the sim2real gap. ⚡️ A pre-trained whole-body controller uses reference motion as a...

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Pulkit Agrawal

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11,196 Aufrufe • vor 1 Jahr •via X (Twitter)

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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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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.

The Humanoid Hub

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This work is not about a new technique. GMT (General Motion Tracking) shows good engineering practices that you can actually train a single unified whole-body control policy for all agile motion, and it works in the real world, directly with sim2real without adaptation. This is different from many existing works that trains/adapts one individual policy for each specific motion. Instead of just showing the beautiful motions/dances, this is actually practical. Because now you can convert all types of commands into real actions in real time without tuning anything. Visit to check out how we handle the following challenges: ✅ Partial Observability. ✅ Hardware Limitations. ✅ Unbalanced Data Distribution. ✅ Model Expressiveness. Work led by Zixuan Chen Mazeyu Ji
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This work is not about a new technique. GMT (General Motion Tracking) shows good engineering practices that you can actually train a single unified whole-body control policy for all agile motion, and it works in the real world, directly with sim2real without adaptation. This is different from many existing works that trains/adapts one individual policy for each specific motion. Instead of just showing the beautiful motions/dances, this is actually practical. Because now you can convert all types of commands into real actions in real time without tuning anything. Visit to check out how we handle the following challenges: ✅ Partial Observability. ✅ Hardware Limitations. ✅ Unbalanced Data Distribution. ✅ Model Expressiveness. Work led by Zixuan Chen Mazeyu Ji

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I've been playing more with this depth map motion transfer workflow, and if you're trying to recreate really specific body movements from a reference video, this works surprisingly well. Here's the workflow: 1. Grab your reference video, then create your character and environment references. 2. Run the video through Depth Anything on fal to generate a depth map: 3. Drop that depth map into Seedance Omni as your motion reference along with your character and environment references. You don't even need the original video. I also tested this against using the original video as the motion reference in Seedance, and there's definitely a noticeable difference. One thing I found, though, is that this works much better for body movement than facial performance since the depth map can't really capture subtle facial motion. I'm running more tests to see if there's a good way to control both body movement and facial performance. If you have any workflows I should try, do share in the comments!
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I've been playing more with this depth map motion transfer workflow, and if you're trying to recreate really specific body movements from a reference video, this works surprisingly well. Here's the workflow: 1. Grab your reference video, then create your character and environment references. 2. Run the video through Depth Anything on fal to generate a depth map: 3. Drop that depth map into Seedance Omni as your motion reference along with your character and environment references. You don't even need the original video. I also tested this against using the original video as the motion reference in Seedance, and there's definitely a noticeable difference. One thing I found, though, is that this works much better for body movement than facial performance since the depth map can't really capture subtle facial motion. I'm running more tests to see if there's a good way to control both body movement and facial performance. If you have any workflows I should try, do share in the comments!

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We are excited to share our #CORL2024 paper on learning quadrotor obstacle avoidance from the visual stream of a single #eventcamera! Trained entirely in simulation! We demonstrate obstacle avoidance both in the dark and in a forest up to 5m/s. PDF: Video: Project page: Event cameras are sensors that output per-pixel-level intensity changes at microsecond latency resolution; they feature nearly zero motion blur and high dynamic range but produce a very large volume of events under significant ego-motion and further lack a high-fidelity continuous-time sensor model in simulation, making direct #sim2real transfer not possible. By leveraging depth prediction as a pretext task, we pre-train a reactive obstacle avoidance policy with “approximated” simulated events and then fine-tune the perception component with limited events-and-depth real-world data. This technique bridges the sim2real gap for #eventcameras! As at the current state, there is no continuous-time sensor model for event cameras, we hope that this work can finally spur future research leveraging simulation for training event-vision-based policies to create faster, agile robots! Kudos to Anish Bhattacharya, @marcocannic, Vijay Kumar Nikolai Matni UZH Science University of Zurich UZH Space Hub UZH IfI European Research Council (ERC) GRASP Laboratory Penn Engineering
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I have been cleaning my daughter's mess for more than two years now. Last weekend our robot came to home to do the job for me. 🤖 Our new work on visual whole-body control learns a policy to coordinate the robot legs and arms for mobile manipulation. See how the legs bend on grasping objects on the ground based on visual inputs autonomously. (It is NOT teleoperation!) We again adopt a Sim2Real approach and our policy generalizes to beaches, forests, and streets in San Diego. 👇🧵
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Let's reverse engineer Disney's adorable, lifelike robot! I couldn't find a whitepaper, but this is how I think it's trained: 1. The emotional behaviors are curated by Disney animation artists, keyframe by keyframe. But it cannot be "rendered" directly on the robot because it doesn't take into account the complex real-world physics. 2. Reinforcement learning (RL) is a great tool for training low-level robot controllers. RL needs a reward function to optimize, and it's typically a task reward (e.g. walk in a straight line as fast as possible). The problem is that RL doesn't know what counts as "natural behavior", and often produces weird-looking body postures that somehow still maximize the reward. This is a human alignment problem just like ChatGPT. 3. Enters Adversarial Motion Prior (AMP): a technique that learns the human preference by training a classifier on what we consider "emotional & cute". In GAN literature, this is called a discriminator. Disney artists are good at creating such a dataset. You can then add AMP as an auxiliary reward in simulation to nudge the robot towards desired behaviors. AMP was developed by Peng et al. 2021 and Escontrela et al. 2022. 4. Add lots of data augmentation to make the controller robust to physical disturbances. In RL, it's called "domain randomization". This is a very powerful technique that bridges the gap between simulator and reality. Previously, OpenAI used domain randomization to train a 5-finger robot hand to manipulate a Rubik's Cube: IEEE news article gave hints about the pipeline: Finally, praying for world peace 🙏. I hope robotics like this will bring more joy to the world.

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It’s the little wins that make a big difference. I couldn’t dip this low when I started training at the beginning of the year. To see my mobility coming back and my body becoming a bit more agile is encouraging. I wanna see what I will cook by staying locked in for a whole year.
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It’s the little wins that make a big difference. I couldn’t dip this low when I started training at the beginning of the year. To see my mobility coming back and my body becoming a bit more agile is encouraging. I wanna see what I will cook by staying locked in for a whole year.

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Full Body Bench 45 Exercises in 1 bench The only workout bench you will ever need to train your whole body. CLICK ON THE LINK to see all the exercises that you can do with it. get 36kg FREE weights and a 1.2m bar only for 30,000 KES call/whatsapp 0726696926

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🎙️ Excited to introduce one of my favorite projects from the past year: TeleDexter, from the BIGAI dexterity team. It’s a stable, human-level dexterous teleoperation system and a suite of autonomous policies trained with it. Pen spinning, complex in-hand reorientation, and long-horizon tool use—once seen as the holy grail of manipulation—are now unlocked. 🧵👇 The hardware is already here; we have some incredible high-DoF robotic hands. The bottleneck? The controller. Most current systems are stuck in "quasi-static" grasping mode. Meanwhile, dynamic in-hand dexterity has remained severely limited. 🧠 To unlock the massive capabilities of human-like hands, we need to build an excellent "cerebellum" for dexterous hands. TeleDexter solves this with a novel co-tracking approach: it simultaneously tracks both human hand kinematics and object states, beautifully bridging the gap between human intent and robotic control. In order to train a better co-tracking policy that works robustly in the real world, we designed : (1) a hybrid reward design that combines consecutive goal reaching and dense tracking, (2) an action masking strategy during training that enhances sim2real performance, (3) a dexterous curriculum for learning the long-horizon interactions. Each design is inspired by numerous trials and countless real-world experiments. We’ve synthesized all the system details, engineering challenges, and core insights into our latest post. If you're interested in the future of dexterous manipulation, grab a coffee and check it out (9-min read): If you have more time, check out the paper:

Siyuan Huang

12,541 Aufrufe • vor 2 Monaten

Can reinforcement learning from AI feedback unlock new capabilities in AI agents? Introducing Motif, an LLM-powered method for intrinsic motivation from AI feedback. Motif extracts reward functions from Llama 2's preferences and uses them to train agents with reinforcement learning. On the complex NetHack game, Motif solves previously unsolved tasks without needing any expert demonstrations. Surprisingly, Motif's reward leads to better game score than the one obtained by using the score itself as a reward. Given access to an event captioning mechanism, a few properties make Motif a general method: • it is entirely based on open models • the LLM doesn't need direct access to the environment dynamics (e.g., its source code) • the LLM doesn't need to understand observation and action spaces The best part? You can start using Motif right now, even on a small compute budget: the whole pipeline can take less than two GPU-days. Feel free to read our paper and try our code out. Paper: Code: Blog post: Work co-lead by Martin Klissarov and myself, with Shagun Sodhani Roberta Raileanu Pierre-Luc Bacon Pascal Vincent Amy Zhang Mikael Henaff Learn more in the thread 🧵
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Can reinforcement learning from AI feedback unlock new capabilities in AI agents? Introducing Motif, an LLM-powered method for intrinsic motivation from AI feedback. Motif extracts reward functions from Llama 2's preferences and uses them to train agents with reinforcement learning. On the complex NetHack game, Motif solves previously unsolved tasks without needing any expert demonstrations. Surprisingly, Motif's reward leads to better game score than the one obtained by using the score itself as a reward. Given access to an event captioning mechanism, a few properties make Motif a general method: • it is entirely based on open models • the LLM doesn't need direct access to the environment dynamics (e.g., its source code) • the LLM doesn't need to understand observation and action spaces The best part? You can start using Motif right now, even on a small compute budget: the whole pipeline can take less than two GPU-days. Feel free to read our paper and try our code out. Paper: Code: Blog post: Work co-lead by Martin Klissarov and myself, with Shagun Sodhani Roberta Raileanu Pierre-Luc Bacon Pascal Vincent Amy Zhang Mikael Henaff Learn more in the thread 🧵

Pierluca D'Oro

311,942 Aufrufe • vor 2 Jahren

Agile Continuous Jumping in Discontinuous Terrains discuss: We focus on agile, continuous, and terrain-adaptive jumping of quadrupedal robots in discontinuous terrains such as stairs and stepping stones. Unlike single-step jumping, continuous jumping requires accurately executing highly dynamic motions over long horizons, which is challenging for existing approaches. To accomplish this task, we design a hierarchical learning and control framework, which consists of a learned heightmap predictor for robust terrain perception, a reinforcement-learning-based centroidal-level motion policy for versatile and terrain-adaptive planning, and a low-level model-based leg controller for accurate motion tracking. In addition, we minimize the sim-to-real gap by accurately modeling the hardware characteristics. Our framework enables a Unitree Go1 robot to perform agile and continuous jumps on human-sized stairs and sparse stepping stones, for the first time to the best of our knowledge. In particular, the robot can cross two stair steps in each jump and completes a 3.5m long, 2.8m high, 14-step staircase in 4.5 seconds. Moreover, the same policy outperforms baselines in various other parkour tasks, such as jumping over single horizontal or vertical discontinuities.
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Agile Continuous Jumping in Discontinuous Terrains discuss: We focus on agile, continuous, and terrain-adaptive jumping of quadrupedal robots in discontinuous terrains such as stairs and stepping stones. Unlike single-step jumping, continuous jumping requires accurately executing highly dynamic motions over long horizons, which is challenging for existing approaches. To accomplish this task, we design a hierarchical learning and control framework, which consists of a learned heightmap predictor for robust terrain perception, a reinforcement-learning-based centroidal-level motion policy for versatile and terrain-adaptive planning, and a low-level model-based leg controller for accurate motion tracking. In addition, we minimize the sim-to-real gap by accurately modeling the hardware characteristics. Our framework enables a Unitree Go1 robot to perform agile and continuous jumps on human-sized stairs and sparse stepping stones, for the first time to the best of our knowledge. In particular, the robot can cross two stair steps in each jump and completes a 3.5m long, 2.8m high, 14-step staircase in 4.5 seconds. Moreover, the same policy outperforms baselines in various other parkour tasks, such as jumping over single horizontal or vertical discontinuities.

AK

35,820 Aufrufe • vor 2 Jahren

This is Open Robot Parkour: the agility at Boston Dynamics level, but now open-source for everyone.🐕 Two NVIDIA tech here at play: 1. IsaacGym: train the robot dog by speeding up reality 10,000x with massively parallel simulation on GPU. 2. NVIDIA Jetson NX for onboard compute. Only vision, no LiDAR, no motion capture. Algorithm is very simple & intuitive: 1. Train in easy mode in simulation with groundtruth states. The bot quickly acquires a "sketch" of the agile skills in this step. 2. Finetune in hard mode with dynamics constraints strictly enforced. 3. Distill into a policy using realistic vision and proprioception inputs only. 4. Bridge the sim2real gap by a bit of pre-processing. The algorithm works on low-cost robot dog hardware, such as Unitree A1 and Go1. It's able to climb high obstacles, leap over large gaps, crawl under low barriers, and squeeze through thin slits. Very neat work!
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This is Open Robot Parkour: the agility at Boston Dynamics level, but now open-source for everyone.🐕 Two NVIDIA tech here at play: 1. IsaacGym: train the robot dog by speeding up reality 10,000x with massively parallel simulation on GPU. 2. NVIDIA Jetson NX for onboard compute. Only vision, no LiDAR, no motion capture. Algorithm is very simple & intuitive: 1. Train in easy mode in simulation with groundtruth states. The bot quickly acquires a "sketch" of the agile skills in this step. 2. Finetune in hard mode with dynamics constraints strictly enforced. 3. Distill into a policy using realistic vision and proprioception inputs only. 4. Bridge the sim2real gap by a bit of pre-processing. The algorithm works on low-cost robot dog hardware, such as Unitree A1 and Go1. It's able to climb high obstacles, leap over large gaps, crawl under low barriers, and squeeze through thin slits. Very neat work!

Jim Fan

315,651 Aufrufe • vor 3 Jahren

How do you give a humanoid the general motion capability? Not just single motions, but all motion? Introducing SONIC, our new work on supersizing motion tracking for natural humanoid control. We argue that motion tracking is the scalable foundation task for humanoids. So we "supersized" it: 9k+ GPU hours and 100M+ motion frames. But tracking alone is not enough; we show how to make a useful control system out of it: - Universal Kinematic Planner: Enables game-like gamepad control and high-level teleoperation, just like controlling a character in a game. - VR Full-Body Teleop: Direct, real-time whole-body control by a human wearing a VR headset. - VR Keypoint Teleop: Control the upper body (hands/head) while our planner handles robust locomotion automatically. - VLA Integration: We connect this motion tracker to autonomous Visual-Language-Action (VLA) models for autonomous task execution! We use a Universal Token Space to UNIFY this command space, turning our robust tracker into a general-purpose, programmable humanoid brain. This is the generalist "System 1" for humanoids. 🚀 Project: #Humanoids #Robotics #AI #FoundationModels #NVIDIAResearch 🧠🔥
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How do you give a humanoid the general motion capability? Not just single motions, but all motion? Introducing SONIC, our new work on supersizing motion tracking for natural humanoid control. We argue that motion tracking is the scalable foundation task for humanoids. So we "supersized" it: 9k+ GPU hours and 100M+ motion frames. But tracking alone is not enough; we show how to make a useful control system out of it: - Universal Kinematic Planner: Enables game-like gamepad control and high-level teleoperation, just like controlling a character in a game. - VR Full-Body Teleop: Direct, real-time whole-body control by a human wearing a VR headset. - VR Keypoint Teleop: Control the upper body (hands/head) while our planner handles robust locomotion automatically. - VLA Integration: We connect this motion tracker to autonomous Visual-Language-Action (VLA) models for autonomous task execution! We use a Universal Token Space to UNIFY this command space, turning our robust tracker into a general-purpose, programmable humanoid brain. This is the generalist "System 1" for humanoids. 🚀 Project: #Humanoids #Robotics #AI #FoundationModels #NVIDIAResearch 🧠🔥

Zhengyi “Zen” Luo

62,624 Aufrufe • vor 10 Monaten