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The problem with humanoid teleoperation is that it is expensive and difficult to scale Enter NVIDIA's EgoScale: - A VLA model pretrained on thousands hours of egocentric human videos. - Mid-trained via 50 hours of human + 4 hours of robot "play" data for human-robot alignment. - Fine-tuned with...

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The Humanoid Hub

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44,441 просмотров • 4 месяцев назад •via X (Twitter)

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We trained a humanoid with 22-DoF dexterous hands to assemble model cars, operate syringes, sort poker cards, fold/roll shirts, all learned primarily from 20,000+ hours of egocentric human video with no robot in the loop. Humans are the most scalable embodiment on the planet. We discovered a near-perfect log-linear scaling law (R² = 0.998) between human video volume and action prediction loss, and this loss directly predicts real-robot success rate. Humanoid robots will be the end game, because they are the practical form factor with minimal embodiment gap from humans. Call it the Bitter Lesson of robot hardware: the kinematic similarity lets us simply retarget human finger motion onto dexterous robot hand joints. No learned embeddings, no fancy transfer algorithms needed. Relative wrist motion + retargeted 22-DoF finger actions serve as a unified action space that carries through from pre-training to robot execution. Our recipe is called "EgoScale": - Pre-train GR00T N1.5 on 20K hours of human video, mid-train with only 4 hours (!) of robot play data with Sharpa hands. 54% gains over training from scratch across 5 highly dexterous tasks. - Most surprising result: a *single* teleop demo is sufficient to learn a never-before-seen task. Our recipe enables extreme data efficiency. - Although we pre-train in 22-DoF hand joint space, the policy transfers to a Unitree G1 with 7-DoF tri-finger hands. 30%+ gains over training on G1 data alone. The scalable path to robot dexterity was never more robots. It was always us. Deep dives in thread:
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We trained a humanoid with 22-DoF dexterous hands to assemble model cars, operate syringes, sort poker cards, fold/roll shirts, all learned primarily from 20,000+ hours of egocentric human video with no robot in the loop. Humans are the most scalable embodiment on the planet. We discovered a near-perfect log-linear scaling law (R² = 0.998) between human video volume and action prediction loss, and this loss directly predicts real-robot success rate. Humanoid robots will be the end game, because they are the practical form factor with minimal embodiment gap from humans. Call it the Bitter Lesson of robot hardware: the kinematic similarity lets us simply retarget human finger motion onto dexterous robot hand joints. No learned embeddings, no fancy transfer algorithms needed. Relative wrist motion + retargeted 22-DoF finger actions serve as a unified action space that carries through from pre-training to robot execution. Our recipe is called "EgoScale": - Pre-train GR00T N1.5 on 20K hours of human video, mid-train with only 4 hours (!) of robot play data with Sharpa hands. 54% gains over training from scratch across 5 highly dexterous tasks. - Most surprising result: a *single* teleop demo is sufficient to learn a never-before-seen task. Our recipe enables extreme data efficiency. - Although we pre-train in 22-DoF hand joint space, the policy transfers to a Unitree G1 with 7-DoF tri-finger hands. 30%+ gains over training on G1 data alone. The scalable path to robot dexterity was never more robots. It was always us. Deep dives in thread:

Jim Fan

292,209 просмотров • 4 месяцев назад

NVIDIA just announced EgoScale 🤖🧠 NVIDIA Research has uncovered a log-linear scaling law for robot dexterity by pretraining VLA models on over 20,000 hours of egocentric human video This massive dataset is 20 times larger than previous efforts and proves that robot intelligence follows a predictable path: the more human data, the lower the loss The secret is a simple recipe combining large-scale human pretraining with a small amount of aligned human-robot mid-training to bridge the gap In testing, this method boosted the average success rate by 54% on a 22-DoF robotic hand compared to policies built without pretraining EgoScale also enables one-shot task adaptation and works across different hardware, suggesting that human motion is a universal motor prior for robots Website: Paper: Source: NVIDIA Research #Robot #Humanoid #Robotics #AI #EmbodiedAI #PhysicalAI #NVIDIA #EgoScale #GR00T
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NVIDIA just announced EgoScale 🤖🧠 NVIDIA Research has uncovered a log-linear scaling law for robot dexterity by pretraining VLA models on over 20,000 hours of egocentric human video This massive dataset is 20 times larger than previous efforts and proves that robot intelligence follows a predictable path: the more human data, the lower the loss The secret is a simple recipe combining large-scale human pretraining with a small amount of aligned human-robot mid-training to bridge the gap In testing, this method boosted the average success rate by 54% on a 22-DoF robotic hand compared to policies built without pretraining EgoScale also enables one-shot task adaptation and works across different hardware, suggesting that human motion is a universal motor prior for robots Website: Paper: Source: NVIDIA Research #Robot #Humanoid #Robotics #AI #EmbodiedAI #PhysicalAI #NVIDIA #EgoScale #GR00T

RoboHub🤖

43,752 просмотров • 4 месяцев назад

1/ 🧠Humans are the best robot data source! 2/ 👓Human egocentric video is rich in quantity, but poor in quality. 3/ Beyond scaling data, smarter representation and architecture matter just as much. 4/ Want an open-source framework to train your own learn-from-human-data robot policy? 🚀We introduce HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videos⬇️ ✦ Zero-Shot Human-to-Robot Transfer ✦ Robot-Data-Free ✦ Just 30 min of data per task ✦ Collect by Anyone, Anytime, Anywhere ✦ Deploy on Any Robot, Any Camera, Any Environment ✦ Open-Source & Easy-to-Implement Let's squeeze every bit of signal out of human data! 🌐 Website: 📄 Paper: 💻 Code: 📹 Video: 🧵 1/n
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1/ 🧠Humans are the best robot data source! 2/ 👓Human egocentric video is rich in quantity, but poor in quality. 3/ Beyond scaling data, smarter representation and architecture matter just as much. 4/ Want an open-source framework to train your own learn-from-human-data robot policy? 🚀We introduce HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videos⬇️ ✦ Zero-Shot Human-to-Robot Transfer ✦ Robot-Data-Free ✦ Just 30 min of data per task ✦ Collect by Anyone, Anytime, Anywhere ✦ Deploy on Any Robot, Any Camera, Any Environment ✦ Open-Source & Easy-to-Implement Let's squeeze every bit of signal out of human data! 🌐 Website: 📄 Paper: 💻 Code: 📹 Video: 🧵 1/n

Zhi (Leo) Wang

108,609 просмотров • 1 месяц назад

Scientists have taught a humanoid robot to play tennis using just 5 hours of motion capture data. After training, the robot is capable of sustaining long rallies with a human and returning balls at speeds exceeding 15 m/s with an accuracy of about 90%.
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Scientists have taught a humanoid robot to play tennis using just 5 hours of motion capture data. After training, the robot is capable of sustaining long rallies with a human and returning balls at speeds exceeding 15 m/s with an accuracy of about 90%.

Massimo

49,108 просмотров • 2 месяцев назад

Researchers trained a humanoid robot to play tennis using only 5 hours of motion capture data The robot can now sustain multi-shot rallies with human players, hitting balls traveling >15 m/s with a ~90% success rate AlphaGo for every sport is coming
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Researchers trained a humanoid robot to play tennis using only 5 hours of motion capture data The robot can now sustain multi-shot rallies with human players, hitting balls traveling >15 m/s with a ~90% success rate AlphaGo for every sport is coming

Andrew Kang

1,893,125 просмотров • 3 месяцев назад

Tired of teleoperation? One human video → 1,000s of robot demos. (📍GitHub ) Scaling Robot Data Without Dynamics Simulation or Robot Hardware Real2Render2Real (R2R2R) is a new way to scale robot data without physics simulation or hardware. You take a phone scan + a single monocular human demo. It tracks the motion, renders photorealistic scenes, and generates diverse, robot-agnostic trajectories ready for training. > No teleop, no sim, no robot, just a phone and a video > Train VLA models and diffusion policies directly on the output > Supports multiple robot embodiments with kinematic consistency > 1000s of demos in 1/27 the time of real-world collection Thank you, Max Fu, for sharing!! Project: Paper: Code coming soon: It shows that with the right pipeline, you can scale robot learning data without touching a robot. One of the most interesting directions in scalable robotics today. —— Weekly robotics and AI insights. Subscribe free:
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Tired of teleoperation? One human video → 1,000s of robot demos. (📍GitHub ) Scaling Robot Data Without Dynamics Simulation or Robot Hardware Real2Render2Real (R2R2R) is a new way to scale robot data without physics simulation or hardware. You take a phone scan + a single monocular human demo. It tracks the motion, renders photorealistic scenes, and generates diverse, robot-agnostic trajectories ready for training. > No teleop, no sim, no robot, just a phone and a video > Train VLA models and diffusion policies directly on the output > Supports multiple robot embodiments with kinematic consistency > 1000s of demos in 1/27 the time of real-world collection Thank you, Max Fu, for sharing!! Project: Paper: Code coming soon: It shows that with the right pipeline, you can scale robot learning data without touching a robot. One of the most interesting directions in scalable robotics today. —— Weekly robotics and AI insights. Subscribe free:

Ilir Aliu

42,804 просмотров • 5 месяцев назад

No wonder they say teleoperation is dead Peking University’s DAGroup released HumanNet, a massive 1 million hour dataset of human-centric videos that turns everyday internet footage into gold for embodied AI. It’s got first-person and third-person views, super detailed actions, object interactions, tool use, and long sequences of real behavior. Everything’s cleaned up and annotated with 3D poses, SLAM tracks, and robot-ready labels. The crazy part is,Training on just 1,000 hours of their first-person videos performs as well as (or even slightly better than) 100 hours of actual robot teleop data on downstream tasks. Basically, human videos can now stand in for expensive robot data. Scaling laws for robotics just got a whole lot more realistic. Human priors + smart curation = the future of world models.
0:52

No wonder they say teleoperation is dead Peking University’s DAGroup released HumanNet, a massive 1 million hour dataset of human-centric videos that turns everyday internet footage into gold for embodied AI. It’s got first-person and third-person views, super detailed actions, object interactions, tool use, and long sequences of real behavior. Everything’s cleaned up and annotated with 3D poses, SLAM tracks, and robot-ready labels. The crazy part is,Training on just 1,000 hours of their first-person videos performs as well as (or even slightly better than) 100 hours of actual robot teleop data on downstream tasks. Basically, human videos can now stand in for expensive robot data. Scaling laws for robotics just got a whole lot more realistic. Human priors + smart curation = the future of world models.

CyberRobo

27,048 просмотров • 1 месяц назад

Egocentric Videos for Robot Training 🧵 Researchers at NYU and UC Berkeley published research where they developed a system called EgoZero that trains robots using human demonstration videos recorded with smart glasses. 👓 The system converts first-person human actions into 3D point-based state-action representations. The policies executed on a gripper-equipped robot, achieved a 70% zero-shot success rate across seven manipulation tasks, with only 20 minutes of human data per task. EgoZero stands as one of the solid empirical proofs that egocentric smart-glass video collected from everyday human behavior can serve as powerful, scalable training data for real robot learning. Vincent Liu Ademi Adeniji
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Egocentric Videos for Robot Training 🧵 Researchers at NYU and UC Berkeley published research where they developed a system called EgoZero that trains robots using human demonstration videos recorded with smart glasses. 👓 The system converts first-person human actions into 3D point-based state-action representations. The policies executed on a gripper-equipped robot, achieved a 70% zero-shot success rate across seven manipulation tasks, with only 20 minutes of human data per task. EgoZero stands as one of the solid empirical proofs that egocentric smart-glass video collected from everyday human behavior can serve as powerful, scalable training data for real robot learning. Vincent Liu Ademi Adeniji

VaderResearch

23,055 просмотров • 9 месяцев назад

How can we build a general-purpose “foundation model” for robot motion? Zhengyi “Zen” Luo joins us to talk about SONIC, which uses motion tracking as a foundational task for humanoid robot control, and scales humanoid control training to 9k GPU hours and 100 million frames worth of data. The result: a model with a generally-useful embedding space that can be controlled by a VLA, or from human video, to perform a wide variety of humanoid whole-body-control tasks, including with zero-shot transfer to previously unseen motions. Watch episode 72 of RoboPapers, with Michael Cho - Rbt/Acc and Jiafei Duan, now!
59:44

How can we build a general-purpose “foundation model” for robot motion? Zhengyi “Zen” Luo joins us to talk about SONIC, which uses motion tracking as a foundational task for humanoid robot control, and scales humanoid control training to 9k GPU hours and 100 million frames worth of data. The result: a model with a generally-useful embedding space that can be controlled by a VLA, or from human video, to perform a wide variety of humanoid whole-body-control tasks, including with zero-shot transfer to previously unseen motions. Watch episode 72 of RoboPapers, with Michael Cho - Rbt/Acc and Jiafei Duan, now!

RoboPapers

24,802 просмотров • 2 месяцев назад

Mecka is excited to power EgoVerse: a growing ecosystem for robot learning from egocentric human data Proven across 4 leading research labs, EgoVerse data consistently boosts robot performance We release the tools for anyone to collect data, inference/train, and contribute! 🧵
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Mecka is excited to power EgoVerse: a growing ecosystem for robot learning from egocentric human data Proven across 4 leading research labs, EgoVerse data consistently boosts robot performance We release the tools for anyone to collect data, inference/train, and contribute! 🧵

Josh

102,654 просмотров • 3 месяцев назад

A humanoid robot policy trained solely on synthetic data generated by a world model. Research Scientist Joel Jang presents NVIDIA's DreamGen pipeline: ⦿ Post-train the world model Cosmos-Predict2 with a small set of real teleoperation demos. ⦿ Prompt the world model to generate synthetic video data with verbs and scenarios not used in the world model’s post-training. ⦿ Auto-label synthetic video data with action sequences. ⦿ Train robot policies using only synthetic data. That's it. Deploy zero-shot to a real humanoid robot.
2:05

A humanoid robot policy trained solely on synthetic data generated by a world model. Research Scientist Joel Jang presents NVIDIA's DreamGen pipeline: ⦿ Post-train the world model Cosmos-Predict2 with a small set of real teleoperation demos. ⦿ Prompt the world model to generate synthetic video data with verbs and scenarios not used in the world model’s post-training. ⦿ Auto-label synthetic video data with action sequences. ⦿ Train robot policies using only synthetic data. That's it. Deploy zero-shot to a real humanoid robot.

The Humanoid Hub

20,968 просмотров • 11 месяцев назад

NVIDIA has published a paper on DREAMGEN – a powerful 4-step pipeline for generating synthetic data for humanoids that enables task and environment generalization. - Step 1: Fine-tune a video generation model using a small number of human teleoperation videos - Step 2: Prompt the fine-tuned model to turn a single real image into new AI-imagined videos - Step 3: Automatically label actions in the generated videos - Step 4: Train a robot AI model with the labeled synthetic dataset This enabled humanoid robots to perform 22 novel behaviors – such as pouring, opening/closing articulated objects, and manipulating a variety of tools. The original teleoperation dataset only included pick-and-place tasks. This takes task extensibility to another level without requiring human teleoperation for every single task. The pipeline will be made open-source soon. Project page:
0:37

NVIDIA has published a paper on DREAMGEN – a powerful 4-step pipeline for generating synthetic data for humanoids that enables task and environment generalization. - Step 1: Fine-tune a video generation model using a small number of human teleoperation videos - Step 2: Prompt the fine-tuned model to turn a single real image into new AI-imagined videos - Step 3: Automatically label actions in the generated videos - Step 4: Train a robot AI model with the labeled synthetic dataset This enabled humanoid robots to perform 22 novel behaviors – such as pouring, opening/closing articulated objects, and manipulating a variety of tools. The original teleoperation dataset only included pick-and-place tasks. This takes task extensibility to another level without requiring human teleoperation for every single task. The pipeline will be made open-source soon. Project page:

The Humanoid Hub

12,074 просмотров • 1 год назад

Qwen-VLA feels like one of the first real robotics foundation models. A single system trained across robot manipulation, navigation, egocentric human video, simulation, and vision-language reasoning instead of isolated robot policies.
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Qwen-VLA feels like one of the first real robotics foundation models. A single system trained across robot manipulation, navigation, egocentric human video, simulation, and vision-language reasoning instead of isolated robot policies.

Robots Digest 🤖

14,657 просмотров • 1 месяц назад

Excited to release τ0-WM: an open-source unified video-action world model for robotic manipulation. It's a 5B-parameter robotic foundation model trained on 27.3K hours of real-robot teleoperation, UMI-style demonstrations, and egocentric interaction videos.
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Excited to release τ0-WM: an open-source unified video-action world model for robotic manipulation. It's a 5B-parameter robotic foundation model trained on 27.3K hours of real-robot teleoperation, UMI-style demonstrations, and egocentric interaction videos.

Jianlan Luo

54,352 просмотров • 1 месяц назад

An interactive world model developed by NVIDIA in collaboration with academic partners. - DreamDojo turns egocentric human video data into physical intelligence. - Human data is more scalable than robotics data but lacks action labels. - To solve this, a dedicated action model extracts latent actions by identifying physics and motion deltas between frames. Training - A massive 44k hours of video data are used for pre-training. - Post-training on small-scale robot datasets maps human physics to specific robot embodiments. - An additional distillation stage converts the model into an autoregressive, few-step diffusion model, enabling real-time, action-controllable simulation. Primary Use Cases - Live Teleoperation: Controlling a robot inside a world simulation in real-time. - Model-based Planning: Previewing and curating the best actions for improved success. - Policy Evaluation: Testing robot policies in realistic, out-of-distribution scenarios. Everything that's open-sourced: weights, code, post-training dataset, eval set, and details to reproduce.
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An interactive world model developed by NVIDIA in collaboration with academic partners. - DreamDojo turns egocentric human video data into physical intelligence. - Human data is more scalable than robotics data but lacks action labels. - To solve this, a dedicated action model extracts latent actions by identifying physics and motion deltas between frames. Training - A massive 44k hours of video data are used for pre-training. - Post-training on small-scale robot datasets maps human physics to specific robot embodiments. - An additional distillation stage converts the model into an autoregressive, few-step diffusion model, enabling real-time, action-controllable simulation. Primary Use Cases - Live Teleoperation: Controlling a robot inside a world simulation in real-time. - Model-based Planning: Previewing and curating the best actions for improved success. - Policy Evaluation: Testing robot policies in realistic, out-of-distribution scenarios. Everything that's open-sourced: weights, code, post-training dataset, eval set, and details to reproduce.

The Humanoid Hub

11,575 просмотров • 4 месяцев назад

Researchers developed Hitter, a humanoid robot that can play table tennis in real-world settings. It was trained on the Unitree G1 robot to predict the ball’s path, choose the right shot, and react in less than a second. In tests, it achieved 106 consecutive shots with a human and even rallied with another humanoid robot.
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Researchers developed Hitter, a humanoid robot that can play table tennis in real-world settings. It was trained on the Unitree G1 robot to predict the ball’s path, choose the right shot, and react in less than a second. In tests, it achieved 106 consecutive shots with a human and even rallied with another humanoid robot.

Space and Technology

25,681 просмотров • 2 месяцев назад

🤖 How can we scale up humanoid robot learning? Introducing 🌟VLK🌟: generating large-scale synthetic data with paired egocentric observations, text, and full-body G1 kinematics for learning humanoid loco-manipulation. No teleoperation needed! Website:
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🤖 How can we scale up humanoid robot learning? Introducing 🌟VLK🌟: generating large-scale synthetic data with paired egocentric observations, text, and full-body G1 kinematics for learning humanoid loco-manipulation. No teleoperation needed! Website:

Jiaman Li

932,149 просмотров • 1 день назад

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

46,715 просмотров • 1 год назад

Training humanoid robots on teleoperation alone won’t scale, says Rhoda AI CEO Jagdeep Singh. Unlike self-driving cars - which basically have four actuators (left, right, speed up, and slow down) and operate in a single environment (the road) - humanoid robots are completely different: "You're dealing with the full dexterity of a human hand - 20 degrees of freedom per hand. Every object is different. Every type of task is different." The problem isn't just the quantity of data - the bigger issue is diversity in the data, and it's why many humanoid robot demos will struggle to adapt to the real world: "If all the data you have is data that you've intentionally collected, then you almost by definition haven't seen the corner cases. You haven't seen all those edge scenarios that cause failure." Jagdeep says teleoperation is useful for fine-tuning robot behavior, but for pretraining, it's completely inadequate.
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Training humanoid robots on teleoperation alone won’t scale, says Rhoda AI CEO Jagdeep Singh. Unlike self-driving cars - which basically have four actuators (left, right, speed up, and slow down) and operate in a single environment (the road) - humanoid robots are completely different: "You're dealing with the full dexterity of a human hand - 20 degrees of freedom per hand. Every object is different. Every type of task is different." The problem isn't just the quantity of data - the bigger issue is diversity in the data, and it's why many humanoid robot demos will struggle to adapt to the real world: "If all the data you have is data that you've intentionally collected, then you almost by definition haven't seen the corner cases. You haven't seen all those edge scenarios that cause failure." Jagdeep says teleoperation is useful for fine-tuning robot behavior, but for pretraining, it's completely inadequate.

TBPN

19,218 просмотров • 3 месяцев назад

Researchers developed a system called LATENT that teaches humanoid robots to play tennis using small pieces of human movement data. It learns basic motion fragments, then corrects and combines them to create natural movements and swings. The system was tested on the Unitree G1 humanoid robot, enabling it to hit balls and rally with human players.
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Researchers developed a system called LATENT that teaches humanoid robots to play tennis using small pieces of human movement data. It learns basic motion fragments, then corrects and combines them to create natural movements and swings. The system was tested on the Unitree G1 humanoid robot, enabling it to hit balls and rally with human players.

Space and Technology

45,667 просмотров • 1 месяц назад