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The million-dollar question in humanoid robotics is: Can humanoids tap into Internet-scale training data such as online videos due to their human-like physique? Our #CoRL2024 oral paper showed the promise of humanoids learning new skills from single video demonstrations. (1/n)

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Yuke Zhu

22,462 subscribers

69,582 просмотров • 1 год назад •via X (Twitter)

Наука и технологииОбразованиеНовости и политика#CoRL2024
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Комментарии: 10

Фото профиля Yuke Zhu
Yuke Zhu1 год назад

OKAMI enables a humanoid robot to imitate a manipulation task given a single RGB-D human video. OKAMI first uses foundation models to identify task-relevant objects and reason about how they are manipulated, generating a reference manipulation plan for the robot to follow. (2/n)

Фото профиля Yuke Zhu
Yuke Zhu1 год назад

Then, OKAMI synthesizes humanoid motions through what we call "object-aware retargeting," mapping the human motions onto the humanoid robot while adapting the new objects and their locations in test environments. (3/n)

Фото профиля Yuke Zhu
Yuke Zhu1 год назад

We show that OKAMI can learn diverse manipulation skills, such as pick-and-place, pouring, pushing, articulate object interaction, and bimanual dexterous manipulation. (4/n)

Фото профиля Yuke Zhu
Yuke Zhu1 год назад

Please see our paper and the project website for more: 📄 🌐 Joint work with @lijinhan21 @yifengzhu_ut Yuqi Xie @SteveTod1998 @kiwi_sherbet @geopavlakos

Фото профиля Adam Raudonis
Adam Raudonis1 год назад

More like the billion dollar question :P

Фото профиля HyperLight Technologies ~ hyperlight.pls
HyperLight Technologies ~ hyperlight.pls1 год назад

Wait till they learn martial arts...

Фото профиля Daniel R P de Melo
Daniel R P de Melo1 год назад

This turns YouTube into pure oil 🛢️

Фото профиля ObotX - Open Source Robotics
ObotX - Open Source Robotics1 год назад

q1. Are really super complex and expensive humanoid arms are legs needed for 99% of use cases? q2. Why videos are needed to simulate physics? :) Aircraft and spaceship construction doesnt neeed that :)

Фото профиля Greg Cook
Greg Cook1 год назад

Great Q

Фото профиля Boris
Boris1 год назад

Does the human learn and understand that he takes his own jobs? Even the engineer can be replaced. How intelligent is that.

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.travis kalanick on why specialized robots beat humanoids for real work: "I'm not anti-humanoid, I'm non-humanoid. There are tasks that are good for humanoids, low scale, high diversity, in human environments, humanoid all the way. But the minute you have a machine doing a high-scale task, we're no longer in humanoid land, we're in specialized robotics land." "There was a moment nine months ago where humanoids were the mega rage of all time. When your hairdresser says he's getting into the humanoid business, we know something's wrong." "If I had to make 1,000 pancakes an hour, I'd never have a humanoid do it, you'd need 100 humanoids going gg-gg-gg. It's like the humanoid Olympics in Beijing, they're doing the marathon and it's cool, but all I could think is, imagine if you put wheels on them. Would you ever put a humanoid in a car to drive it?" "High scale, repetitive tasks do not need to be in human form, and they won't be, because humans are meant to do lots of things at low scale."

MTS

52,573 просмотров • 22 дней назад

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Figure

46,041 просмотров • 11 месяцев назад

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Learning dexterous policies from human videos is challenging due to differences between human and robot hands. We present HuDOR, a method that learns dexterous policies within the robot's physical constraints using just one human video and an hour of online interactions! [1/n]

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71,481 просмотров • 9 месяцев назад

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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: 🧵

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94,576 просмотров • 1 месяц назад

We discovered an emergent property of VLAs like π0/π0.5/π0.6: as we scale up pre-training, the model learns to align human videos and robot data! This gives us a simple way to leverage human videos. Once π0.5 knows how to control robots, it can naturally learn from human video.
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We discovered an emergent property of VLAs like π0/π0.5/π0.6: as we scale up pre-training, the model learns to align human videos and robot data! This gives us a simple way to leverage human videos. Once π0.5 knows how to control robots, it can naturally learn from human video.

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Figure announces Project Go-Big: Internet-Scale Humanoid Pretraining and Direct Human-to-Robot Transfer The company has achieved a new milestone for the Helix AI model: after training exclusively on egocentric human data, Figure robots can now navigate real-world spaces from natural language commands such as “Go water the plants.” This also enabled a unified Helix model that can output both manipulation and navigation commands to the continuous control system. This ties into the Brookfield partnership that they announced yesterday. Brookfield is a global asset manager overseeing $1 trillion in assets, including 100,000 residential units, 500M square feet of commercial office space, and 160M square feet of logistics space. Using human video capture in a variety of Brookfield environments, Figure will amass critical pretraining data at scale, allowing them to explore the full potential of internet-scale embodied datasets for locomotion and manipulation.

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62,424 просмотров • 1 год назад

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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 🧠🔥

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62,208 просмотров • 9 месяцев назад

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0:28

How well do egocentric human videos scale? Apparently, really well. Dyna Robotics has introduced Dyna-2, a world-action model (WAM) pre-trained on more than 1 million hours of real egocentric human video. It learns by jointly predicting the next video frames and the actions, and that video prediction (world modeling) is what carries learning from humans to robots. • More human video predictably improves action prediction. • Task accuracy improves across embodiments (bimanual arms and a humanoid) with zero robot data in pre-training. • Post-trained on just a few hours of robot data, mean task performance rose 20% to 53% as human pre-training scaled 1k to 1M hours. WAM vs VLA, matched apple-to-apple: the WAM hit 1.55x the VLA's success rate and won 65% of head-to-heads. Deployed zero-shot at unseen customer sites, it passed 87% vs the VLA's 46%.

The Humanoid Hub

14,678 просмотров • 4 дней назад

ELON: AGI IS LIKELY TO EMERGE FROM OUR AUTONOMOUS CARS AND HUMANOIDS “We're not actually specifically focused on AGI. I'm simply saying that AGI seems likely to be an emergent property of what we're doing, because we're creating all these autonomous cars and autonomous humanoids that are actually a truly gigantic data stream that's coming in and being processed. It's by far the most amount of real-world data, and data you can't get by just searching the Internet, because you have to be out there in the world and interacting with people and interacting with the roads. Earth is a big place, and reality is messy and complicated. If you've got tens or hundreds of millions of autonomous vehicles and maybe even a comparable number of humanoids, maybe more than that, on the humanoid front, well, that's just the most amount of data. And if that video is being processed, it just seems likely that the cars will definitely get way better than human drivers, and the humanoid robots will become increasingly indistinguishable from humans, perhaps. And so then, like you said, you have this emergent property of AGI.” Source: Tesla AI Day, September 2022
1:16

ELON: AGI IS LIKELY TO EMERGE FROM OUR AUTONOMOUS CARS AND HUMANOIDS “We're not actually specifically focused on AGI. I'm simply saying that AGI seems likely to be an emergent property of what we're doing, because we're creating all these autonomous cars and autonomous humanoids that are actually a truly gigantic data stream that's coming in and being processed. It's by far the most amount of real-world data, and data you can't get by just searching the Internet, because you have to be out there in the world and interacting with people and interacting with the roads. Earth is a big place, and reality is messy and complicated. If you've got tens or hundreds of millions of autonomous vehicles and maybe even a comparable number of humanoids, maybe more than that, on the humanoid front, well, that's just the most amount of data. And if that video is being processed, it just seems likely that the cars will definitely get way better than human drivers, and the humanoid robots will become increasingly indistinguishable from humans, perhaps. And so then, like you said, you have this emergent property of AGI.” Source: Tesla AI Day, September 2022

Mario Nawfal

2,628,293 просмотров • 1 год назад