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Wow! Super impressive work by the new Amazon FAR team (from Covariant acquisition). Mapping long sequences of human motion (>30 sec) on robots with a differing shapes or interating with objects (box, table, etc) of different size. Enabling easier in-simulation data-augmentation and zero-shoot transfer. Super impressive and huge help... show more

Thomas Wolf

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149,734 просмотров • 9 месяцев назад •via X (Twitter)

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Amazon is training humanoids to move boxes. Makes sense! OmniRetarget is a data generation engine that enables complex loco-manipulation for humanoids. It uses offline retargeting from human MoCap datasets and augments data from single demos to produce 8 hours of trajectories that train RL policies in simulation, transferred zero-shot to real robots. Amazon FAR is the primary affiliation for the paper:

Amazon is training humanoids to move boxes. Makes sense! OmniRetarget is a data generation engine that enables complex loco-manipulation for humanoids. It uses offline retargeting from human MoCap datasets and augments data from single demos to produce 8 hours of trajectories that train RL policies in simulation, transferred zero-shot to real robots. Amazon FAR is the primary affiliation for the paper:

The Humanoid Hub

106,447 просмотров • 9 месяцев назад

Excited to share our latest work on 🎧spatial audio-driven human motion generation. We aim to tackle a largely underexplored yet important problem of enabling virtual humans to move naturally in response to spatial audio—capturing not just what is heard, but also where the sound is coming from. To this end, we introduce the Spatial Audio-Driven Human Motion (SAM) dataset—the first comprehensive dataset featuring paired high-quality human motion and spatial audio recordings. For benchmarking, we develop a generative framework for human MOtion generation driven by SPAtial audio, termed MOSPA, which learns to synthesize realistic and diverse human motions conditioned on spatial audio input. We hope this research could provide a foundation for future research in spatial perception, virtual characters, and embodied AI. The dataset and model will be open-sourced soon. A big thank you to our intern, Shuyang Xu, for the wonderful collaboration! Congratulations, Shuyang! Project page: Paper: Video: #Animation #CG #CV #AIGC #DL #Deeplearning #Motion #Graphics #AI #GenerativeAI

Excited to share our latest work on 🎧spatial audio-driven human motion generation. We aim to tackle a largely underexplored yet important problem of enabling virtual humans to move naturally in response to spatial audio—capturing not just what is heard, but also where the sound is coming from. To this end, we introduce the Spatial Audio-Driven Human Motion (SAM) dataset—the first comprehensive dataset featuring paired high-quality human motion and spatial audio recordings. For benchmarking, we develop a generative framework for human MOtion generation driven by SPAtial audio, termed MOSPA, which learns to synthesize realistic and diverse human motions conditioned on spatial audio input. We hope this research could provide a foundation for future research in spatial perception, virtual characters, and embodied AI. The dataset and model will be open-sourced soon. A big thank you to our intern, Shuyang Xu, for the wonderful collaboration! Congratulations, Shuyang! Project page: Paper: Video: #Animation #CG #CV #AIGC #DL #Deeplearning #Motion #Graphics #AI #GenerativeAI

Zhiyang (Frank) Dou

14,610 просмотров • 1 год назад

I don’t know if we live in a Matrix, but I know for sure that robots will spend most of their lives in simulation. Let machines train machines. I’m excited to introduce DexMimicGen, a massive-scale synthetic data generator that enables a humanoid robot to learn complex skills from only a handful of human demonstrations. Yes, as few as 5! DexMimicGen addresses the biggest pain point in robotics: where do we get data? Unlike with LLMs, where vast amounts of texts are readily available, you cannot simply download motor control signals from the internet. So researchers teleoperate the robots to collect motion data via XR headsets. They have to repeat the same skill over and over and over again, because neural nets are data hungry. This is a very slow and uncomfortable process. At NVIDIA, we believe the majority of high-quality tokens for robot foundation models will come from simulation. What DexMimicGen does is to trade GPU compute time for human time. It takes one motion trajectory from human, and multiplies into 1000s of new trajectories. A robot brain trained on this augmented dataset will generalize far better in the real world. Think of DexMimicGen as a learning signal amplifier. It maps a small dataset to a large (de facto infinite) dataset, using physics simulation in the loop. In this way, we free humans from babysitting the bots all day. The future of robot data is generative. The future of the entire robot learning pipeline will also be generative. 🧵

I don’t know if we live in a Matrix, but I know for sure that robots will spend most of their lives in simulation. Let machines train machines. I’m excited to introduce DexMimicGen, a massive-scale synthetic data generator that enables a humanoid robot to learn complex skills from only a handful of human demonstrations. Yes, as few as 5! DexMimicGen addresses the biggest pain point in robotics: where do we get data? Unlike with LLMs, where vast amounts of texts are readily available, you cannot simply download motor control signals from the internet. So researchers teleoperate the robots to collect motion data via XR headsets. They have to repeat the same skill over and over and over again, because neural nets are data hungry. This is a very slow and uncomfortable process. At NVIDIA, we believe the majority of high-quality tokens for robot foundation models will come from simulation. What DexMimicGen does is to trade GPU compute time for human time. It takes one motion trajectory from human, and multiplies into 1000s of new trajectories. A robot brain trained on this augmented dataset will generalize far better in the real world. Think of DexMimicGen as a learning signal amplifier. It maps a small dataset to a large (de facto infinite) dataset, using physics simulation in the loop. In this way, we free humans from babysitting the bots all day. The future of robot data is generative. The future of the entire robot learning pipeline will also be generative. 🧵

Jim Fan

165,246 просмотров • 1 год назад

Why do most humanoid motion trackers still slip, skate, or clip through objects? Because the real bottleneck isn’t RL, it’s bad retargeting… OmniRetarget flips the script: instead of compensating with dozens of reward terms, it generates high-quality, interaction-preserving trajectories from human motions. The result is agile, human-like skills with minimal RL. ✅ 5 reward terms, 4 domain randomization terms, proprioception only, no history or curriculum ✅ Interaction mesh produces clean, contact-preserving motions with virtually no foot-skating ✅ Works across embodiments (Unitree H1, Booster T1) and scales from one demo to many scenes From carrying boxes to slope crawling to parkour-style rolls, policies trained on OmniRetarget data transfer zero-shot from sim to real hardware. Thanks for sharing, Zhen Wu! 📍Paper: Website: Dataset:

Why do most humanoid motion trackers still slip, skate, or clip through objects? Because the real bottleneck isn’t RL, it’s bad retargeting… OmniRetarget flips the script: instead of compensating with dozens of reward terms, it generates high-quality, interaction-preserving trajectories from human motions. The result is agile, human-like skills with minimal RL. ✅ 5 reward terms, 4 domain randomization terms, proprioception only, no history or curriculum ✅ Interaction mesh produces clean, contact-preserving motions with virtually no foot-skating ✅ Works across embodiments (Unitree H1, Booster T1) and scales from one demo to many scenes From carrying boxes to slope crawling to parkour-style rolls, policies trained on OmniRetarget data transfer zero-shot from sim to real hardware. Thanks for sharing, Zhen Wu! 📍Paper: Website: Dataset:

Ilir Aliu - eu/acc

61,491 просмотров • 9 месяцев назад

PointOdyssey: A Large-Scale Synthetic Dataset for Long-Term Point Tracking paper page: introduce PointOdyssey, a large-scale synthetic dataset, and data generation framework, for the training and evaluation of long-term fine-grained tracking algorithms. Our goal is to advance the state-of-the-art by placing emphasis on long videos with naturalistic motion. Toward the goal of naturalism, we animate deformable characters using real-world motion capture data, we build 3D scenes to match the motion capture environments, and we render camera viewpoints using trajectories mined via structure-from-motion on real videos. We create combinatorial diversity by randomizing character appearance, motion profiles, materials, lighting, 3D assets, and atmospheric effects. Our dataset currently includes 104 videos, averaging 2,000 frames long, with orders of magnitude more correspondence annotations than prior work. We show that existing methods can be trained from scratch in our dataset and outperform the published variants. Finally, we introduce modifications to the PIPs point tracking method, greatly widening its temporal receptive field, which improves its performance on PointOdyssey as well as on two real-world benchmarks.

PointOdyssey: A Large-Scale Synthetic Dataset for Long-Term Point Tracking paper page: introduce PointOdyssey, a large-scale synthetic dataset, and data generation framework, for the training and evaluation of long-term fine-grained tracking algorithms. Our goal is to advance the state-of-the-art by placing emphasis on long videos with naturalistic motion. Toward the goal of naturalism, we animate deformable characters using real-world motion capture data, we build 3D scenes to match the motion capture environments, and we render camera viewpoints using trajectories mined via structure-from-motion on real videos. We create combinatorial diversity by randomizing character appearance, motion profiles, materials, lighting, 3D assets, and atmospheric effects. Our dataset currently includes 104 videos, averaging 2,000 frames long, with orders of magnitude more correspondence annotations than prior work. We show that existing methods can be trained from scratch in our dataset and outperform the published variants. Finally, we introduce modifications to the PIPs point tracking method, greatly widening its temporal receptive field, which improves its performance on PointOdyssey as well as on two real-world benchmarks.

AK

122,533 просмотров • 3 лет назад

Exciting updates on Project GR00T! We discover a systematic way to scale up robot data, tackling the most painful pain point in robotics. The idea is simple: human collects demonstration on a real robot, and we multiply that data 1000x or more in simulation. Let’s break it down: 1. We use Apple Vision Pro (yes!!) to give the human operator first person control of the humanoid. Vision Pro parses human hand pose and retargets the motion to the robot hand, all in real time. From the human’s point of view, they are immersed in another body like the Avatar. Teleoperation is slow and time-consuming, but we can afford to collect a small amount of data. 2. We use RoboCasa, a generative simulation framework, to multiply the demonstration data by varying the visual appearance and layout of the environment. In Jensen’s keynote video below, the humanoid is now placing the cup in hundreds of kitchens with a huge diversity of textures, furniture, and object placement. We only have 1 physical kitchen at the GEAR Lab in NVIDIA HQ, but we can conjure up infinite ones in simulation. 3. Finally, we apply MimicGen, a technique to multiply the above data even more by varying the motion of the robot. MimicGen generates vast number of new action trajectories based on the original human data, and filters out failed ones (e.g. those that drop the cup) to form a much larger dataset. To sum up, given 1 human trajectory with Vision Pro -> RoboCasa produces N (varying visuals) -> MimicGen further augments to NxM (varying motions). This is the way to trade compute for expensive human data by GPU-accelerated simulation. A while ago, I mentioned that teleoperation is fundamentally not scalable, because we are always limited by 24 hrs/robot/day in the world of atoms. Our new GR00T synthetic data pipeline breaks this barrier in the world of bits. Scaling has been so much fun for LLMs, and it's finally our turn to have fun in robotics! We are building tools to enable everyone in the ecosystem to scale up with us. Links in thread:

Jim Fan

364,380 просмотров • 1 год назад

Today, Box is announcing major new AI agent capabilities to let customers tap into the full value of their unstructured data. First, we’re announcing all new updates to the Box AI Studio to make it even easier to build AI agents that tap into your enterprise content for any job function, business process, or industry specific use case. We are also expanding our set of foundational agents that customers will be able to use to work with their enterprise content, including new features like search and research on unstructured data. Next, we’re announcing Box Extract to enable customers to use AI agents seamlessly for complex data extraction from any type of document or content. This makes it easier than ever to pull out data from contracts, invoices, research data, marketing assets, medical charts, and more. Finally, we’re introducing Box Automate, a new workflow automation solution within Box that lets you deploy AI agents across enterprise content-centric workflows. With Box Automate, you can design your business process in a simple drag and drop builder and then drop in AI agents at any step in the process. This ensures agents execute tasks at the right steps in a workflow every time. Best of all, our AI agents and workflow tools are designed to work across any system our customers work within, whether it’s leveraging pre-built integrations, Box APIs, or the new Box MCP Server. Ultimately, all of these capabilities come together to transform how companies can work with their enterprise content. Software has historically only been good at automating work that deals with structured data, which is why ERP, CRM, and HR systems have been mainstays of enterprise software for so long. The data in these systems fits neatly into a database, and the workflows are very ripe for automation. But it turns out most of the work in the world deals with unstructured data. It’s ideating through research documents, working with a client on contracts, reviewing details for a new product launch, looking at a patient’s healthcare record to make a diagnosis, working through due diligence documents for an M&A deal, and so on. For the first time ever, we can begin to bring all new insights and automation to this work with AI agents. At Box, we’re incredibly excited to be on this journey to help customers transform how they work with their most important data.

Today, Box is announcing major new AI agent capabilities to let customers tap into the full value of their unstructured data. First, we’re announcing all new updates to the Box AI Studio to make it even easier to build AI agents that tap into your enterprise content for any job function, business process, or industry specific use case. We are also expanding our set of foundational agents that customers will be able to use to work with their enterprise content, including new features like search and research on unstructured data. Next, we’re announcing Box Extract to enable customers to use AI agents seamlessly for complex data extraction from any type of document or content. This makes it easier than ever to pull out data from contracts, invoices, research data, marketing assets, medical charts, and more. Finally, we’re introducing Box Automate, a new workflow automation solution within Box that lets you deploy AI agents across enterprise content-centric workflows. With Box Automate, you can design your business process in a simple drag and drop builder and then drop in AI agents at any step in the process. This ensures agents execute tasks at the right steps in a workflow every time. Best of all, our AI agents and workflow tools are designed to work across any system our customers work within, whether it’s leveraging pre-built integrations, Box APIs, or the new Box MCP Server. Ultimately, all of these capabilities come together to transform how companies can work with their enterprise content. Software has historically only been good at automating work that deals with structured data, which is why ERP, CRM, and HR systems have been mainstays of enterprise software for so long. The data in these systems fits neatly into a database, and the workflows are very ripe for automation. But it turns out most of the work in the world deals with unstructured data. It’s ideating through research documents, working with a client on contracts, reviewing details for a new product launch, looking at a patient’s healthcare record to make a diagnosis, working through due diligence documents for an M&A deal, and so on. For the first time ever, we can begin to bring all new insights and automation to this work with AI agents. At Box, we’re incredibly excited to be on this journey to help customers transform how they work with their most important data.

Aaron Levie

91,863 просмотров • 10 месяцев назад

🤔 Ever wondered if simulation-based animation/avatar learnings can be applied to real humanoid in real-time? 🤖 Introducing H2O (Human2HumanOid): - 🧠 An RL-based human-to-humanoid real-time whole-body teleoperation framework - 💃 Scalable retargeting and training using large human motion dataset - 🎥 With just an RGB camera, everyone can teleoperate a full-sized humanoid to perform actions like pick and place, walking, kicking, boxing, etc - 💡Unleash the potential of humanoids with human cognitive skills and adaptability 🔗: 📄: 🎬: H2O proposes: - A scalable retargeting framework for obtaining large-scale humanoid motion dataset, intelligently filtering out infeasible motion for the humanoid embodiment. - We train a full-body motion imitator (similar to PHC) and deploy to the real world zero-shot. - Using this framework, we enable real-time teleoperation of a humanoid via a human operator and webcam, performing skills such as pick and place, kicking, walking strollers, etc. Team: Tairan He Zhengyi “Zen” Luo Wenli Xiao @ChongZitaZhang Kris Kitani Changliu Liu Guanya Shi

Zhengyi “Zen” Luo

47,305 просмотров • 2 лет назад

Humanoids finally move like humans… and can do more than copy. [Details + demos in thread 👇] A new framework, BeyondMimic, shows how to learn naturalistic whole-body control from human motion. But then goes further by composing those skills into versatile, zero-shot policies. Two key pieces make it work: •Motion tracking pipeline: robustly turns human mocap into dynamic robot motions (jump spins, sprinting, cartwheels) on real hardware •Guided diffusion policy: distills motion primitives and enables zero-shot downstream tasks with simple cost functions The result: ✅ State-of-the-art motion quality from mocap tracking ✅ Versatile task execution; waypoint navigation, joystick teleop, obstacle avoidance ✅ Stable sim-to-real transfer for diverse humanoid skills Thank you for sharing, Qiayuan Liao! 📍 Paper: Video:

Humanoids finally move like humans… and can do more than copy. [Details + demos in thread 👇] A new framework, BeyondMimic, shows how to learn naturalistic whole-body control from human motion. But then goes further by composing those skills into versatile, zero-shot policies. Two key pieces make it work: •Motion tracking pipeline: robustly turns human mocap into dynamic robot motions (jump spins, sprinting, cartwheels) on real hardware •Guided diffusion policy: distills motion primitives and enables zero-shot downstream tasks with simple cost functions The result: ✅ State-of-the-art motion quality from mocap tracking ✅ Versatile task execution; waypoint navigation, joystick teleop, obstacle avoidance ✅ Stable sim-to-real transfer for diverse humanoid skills Thank you for sharing, Qiayuan Liao! 📍 Paper: Video:

Ilir Aliu - eu/acc

72,522 просмотров • 11 месяцев назад

I made an AI data science team with Python. I'm excited to share my new project, the AI Data Science Team, a Python package for creating AI co-pilots and agents to assist in common data science tasks. I walk you through the GitHub page, showcasing the progress and potential of this project. I'll explain how these agents can streamline tasks like code generation and modeling pipeline creation, making data science projects more efficient. Introduction to AI Data Science Team Project Integrating Human-in-the-Loop Example: Accessing Agents for Feature Engineering Setting up Feature Engineering Agent Code On GitHub: Python AI-Tips Newsletter (stay updated as I build this project in the open):

I made an AI data science team with Python. I'm excited to share my new project, the AI Data Science Team, a Python package for creating AI co-pilots and agents to assist in common data science tasks. I walk you through the GitHub page, showcasing the progress and potential of this project. I'll explain how these agents can streamline tasks like code generation and modeling pipeline creation, making data science projects more efficient. Introduction to AI Data Science Team Project Integrating Human-in-the-Loop Example: Accessing Agents for Feature Engineering Setting up Feature Engineering Agent Code On GitHub: Python AI-Tips Newsletter (stay updated as I build this project in the open):

Matt Dancho (Business Science)

11,799 просмотров • 1 год назад

MotionGPT: Human Motion as a Foreign Language paper page: Though the advancement of pre-trained large language models unfolds, the exploration of building a unified model for language and other multi-modal data, such as motion, remains challenging and untouched so far. Fortunately, human motion displays a semantic coupling akin to human language, often perceived as a form of body language. By fusing language data with large-scale motion models, motion-language pre-training that can enhance the performance of motion-related tasks becomes feasible. Driven by this insight, we propose MotionGPT, a unified, versatile, and user-friendly motion-language model to handle multiple motion-relevant tasks. Specifically, we employ the discrete vector quantization for human motion and transfer 3D motion into motion tokens, similar to the generation process of word tokens. Building upon this "motion vocabulary", we perform language modeling on both motion and text in a unified manner, treating human motion as a specific language. Moreover, inspired by prompt learning, we pre-train MotionGPT with a mixture of motion-language data and fine-tune it on prompt-based question-and-answer tasks. Extensive experiments demonstrate that MotionGPT achieves state-of-the-art performances on multiple motion tasks including text-driven motion generation, motion captioning, motion prediction, and motion in-between.

MotionGPT: Human Motion as a Foreign Language paper page: Though the advancement of pre-trained large language models unfolds, the exploration of building a unified model for language and other multi-modal data, such as motion, remains challenging and untouched so far. Fortunately, human motion displays a semantic coupling akin to human language, often perceived as a form of body language. By fusing language data with large-scale motion models, motion-language pre-training that can enhance the performance of motion-related tasks becomes feasible. Driven by this insight, we propose MotionGPT, a unified, versatile, and user-friendly motion-language model to handle multiple motion-relevant tasks. Specifically, we employ the discrete vector quantization for human motion and transfer 3D motion into motion tokens, similar to the generation process of word tokens. Building upon this "motion vocabulary", we perform language modeling on both motion and text in a unified manner, treating human motion as a specific language. Moreover, inspired by prompt learning, we pre-train MotionGPT with a mixture of motion-language data and fine-tune it on prompt-based question-and-answer tasks. Extensive experiments demonstrate that MotionGPT achieves state-of-the-art performances on multiple motion tasks including text-driven motion generation, motion captioning, motion prediction, and motion in-between.

AK

125,319 просмотров • 3 лет назад

Physics-based Motion Retargeting from Sparse Inputs paper page: Avatars are important to create interactive and immersive experiences in virtual worlds. One challenge in animating these characters to mimic a user's motion is that commercial AR/VR products consist only of a headset and controllers, providing very limited sensor data of the user's pose. Another challenge is that an avatar might have a different skeleton structure than a human and the mapping between them is unclear. In this work we address both of these challenges. We introduce a method to retarget motions in real-time from sparse human sensor data to characters of various morphologies. Our method uses reinforcement learning to train a policy to control characters in a physics simulator. We only require human motion capture data for training, without relying on artist-generated animations for each avatar. This allows us to use large motion capture datasets to train general policies that can track unseen users from real and sparse data in real-time. We demonstrate the feasibility of our approach on three characters with different skeleton structure: a dinosaur, a mouse-like creature and a human. We show that the avatar poses often match the user surprisingly well, despite having no sensor information of the lower body available. We discuss and ablate the important components in our framework, specifically the kinematic retargeting step, the imitation, contact and action reward as well as our asymmetric actor-critic observations. We further explore the robustness of our method in a variety of settings including unbalancing, dancing and sports motions.

AK

106,527 просмотров • 3 лет 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.

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

Experiments in progress. The one on the right has been learning for ~3 hours, the one in the middle for ~1 hour, and the one on the left just started a few minutes ago. The initial motivation for making the physical Atari was just to commit ourselves to a subset of algorithms that can make progress in this setup. This commitment rules out algorithms that require billions of samples to learn (or worse, require multiple environments running in parallel). Atari games are simple enough that we should be able to show learning on them in a short amount of time with no prior knowledge. Since then, I've realized that this setup is also a good way to compare different paradigms in robotics in a principled way. These paradigms are sim2real, learning from tele-operated data, and learning directly on the robots. So far, I have observed that getting sim2real to work reliably is hard. It requires tweaks that don't scale. Policies that can play perfectly in simulation fall apart because of latencies and the messiness of the real world. These aspects could be modeled to improve the simulation, but not without sinking significant human engineering hours. I have higher hopes for learning from tele-operated data, but that requires a human to learn the task first. These experiments are on my to-do list. I have to learn to play some of the games well through the robot. I’m half-decent at playing Pong and Ms Pacman now. Learning directly on robots is looking like the most promising approach. This approach takes away pesky distribution shifts and makes it possible to have algorithms that continually improve with more data and time without any human intervention. It feels great to let experiments run overnight and wake up to find improved policies. With learning on robots, I should, in principle, be able to go on a long vacation and come back to find better policies for complex tasks beyond Atari games. Whether that is possible with current learning algorithms is a different question.

Experiments in progress. The one on the right has been learning for ~3 hours, the one in the middle for ~1 hour, and the one on the left just started a few minutes ago. The initial motivation for making the physical Atari was just to commit ourselves to a subset of algorithms that can make progress in this setup. This commitment rules out algorithms that require billions of samples to learn (or worse, require multiple environments running in parallel). Atari games are simple enough that we should be able to show learning on them in a short amount of time with no prior knowledge. Since then, I've realized that this setup is also a good way to compare different paradigms in robotics in a principled way. These paradigms are sim2real, learning from tele-operated data, and learning directly on the robots. So far, I have observed that getting sim2real to work reliably is hard. It requires tweaks that don't scale. Policies that can play perfectly in simulation fall apart because of latencies and the messiness of the real world. These aspects could be modeled to improve the simulation, but not without sinking significant human engineering hours. I have higher hopes for learning from tele-operated data, but that requires a human to learn the task first. These experiments are on my to-do list. I have to learn to play some of the games well through the robot. I’m half-decent at playing Pong and Ms Pacman now. Learning directly on robots is looking like the most promising approach. This approach takes away pesky distribution shifts and makes it possible to have algorithms that continually improve with more data and time without any human intervention. It feels great to let experiments run overnight and wake up to find improved policies. With learning on robots, I should, in principle, be able to go on a long vacation and come back to find better policies for complex tasks beyond Atari games. Whether that is possible with current learning algorithms is a different question.

Khurram Javed

52,110 просмотров • 7 месяцев назад

The full LadderMan podcast episode is finally live! 🪜 LadderMan is one of the most interesting papers recently: instead of just walking on flat ground or doing flashy demos, it tackles a very real-world capability — letting humanoid robots climb ladders with perception, planning, and whole-body control. To me, this is exactly the kind of work that pushes robots closer to actually operating in human environments. Huge thanks again to Siheng Zhao , Chris Paxton, The Humanoid Hub, and Zifan Xu for joining the discussion. The full episode is a bit long, so I’ll be cutting some of the best moments into shorter clips and sharing them soon.

The full LadderMan podcast episode is finally live! 🪜 LadderMan is one of the most interesting papers recently: instead of just walking on flat ground or doing flashy demos, it tackles a very real-world capability — letting humanoid robots climb ladders with perception, planning, and whole-body control. To me, this is exactly the kind of work that pushes robots closer to actually operating in human environments. Huge thanks again to Siheng Zhao , Chris Paxton, The Humanoid Hub, and Zifan Xu for joining the discussion. The full episode is a bit long, so I’ll be cutting some of the best moments into shorter clips and sharing them soon.

Eren Chen

10,350 просмотров • 18 дней назад

Co-training has become a key part of the recipe for training large robotics models; it means that you mix some proportion of real robot data with other data sources, like simulation or egocentric human video data. This is especially important because robotics data tends to lack diversity which can be somewhat compensated for by the inclusion of these other modalities. And yet there has not been a sizable study on what constitute good practices for cotraining until now! We talk to Fanqi Lin and Jose Barreiros about their new work, a massive study which evaluated 89 policies over thousands of rollouts to tell us which forms of co-training were most useful for robotics. Watch episode 70 of RoboPapers, with Michael Cho and Chris Paxton, now!

Co-training has become a key part of the recipe for training large robotics models; it means that you mix some proportion of real robot data with other data sources, like simulation or egocentric human video data. This is especially important because robotics data tends to lack diversity which can be somewhat compensated for by the inclusion of these other modalities. And yet there has not been a sizable study on what constitute good practices for cotraining until now! We talk to Fanqi Lin and Jose Barreiros about their new work, a massive study which evaluated 89 policies over thousands of rollouts to tell us which forms of co-training were most useful for robotics. Watch episode 70 of RoboPapers, with Michael Cho and Chris Paxton, now!

RoboPapers

19,152 просмотров • 3 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:

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

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.

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 • 2 месяцев назад

Excited to announce GR00T N1, the world’s first open foundation model for humanoid robots! We are on a mission to democratize Physical AI. The power of general robot brain, in the palm of your hand - with only 2B parameters, N1 learns from the most diverse physical action dataset ever compiled and punches above its weight: - Real humanoid teleoperation data. - Large-scale simulation data: we are open-sourcing 300K+ trajectories! - Neural trajectories: we apply SOTA video generation models to “hallucinate” new synthetic data that features accurate physics in pixels. Using Jensen’s words, “systematically infinite data”! - Latent actions: we develop novel algorithms to extract action tokens from in-the-wild human videos and neural generated videos. GR00T N1 is a single end-to-end neural net, from photons to actions: - Vision-Language Model (System 2) that interprets the physical world through vision and language instructions, enabling robots to reason about their environment and instructions, and plan the right actions. - Diffusion Transformer (System 1) that “renders” smooth and precise motor actions at 120 Hz, executing the latent plan made by System 2. We deploy N1 on GR1 robot, 1X Neo robot, and a large collection of simulation benchmarks. N1 achieves up to +30% boost in diverse manipulation tasks for household and industrial settings. While humanoid robots are the main focus of N1, our model also supports cross-embodiment. We finetune it to work on the $110 HuggingFace LeRobot SO100 robot arm! Open robot brain runs on open hardware. Sounds just right. Let’s solve robotics, together, one token at a time. Links to our Whitepaper, Github repo, HuggingFace model, and open dataset page in the thread: 🧵

Excited to announce GR00T N1, the world’s first open foundation model for humanoid robots! We are on a mission to democratize Physical AI. The power of general robot brain, in the palm of your hand - with only 2B parameters, N1 learns from the most diverse physical action dataset ever compiled and punches above its weight: - Real humanoid teleoperation data. - Large-scale simulation data: we are open-sourcing 300K+ trajectories! - Neural trajectories: we apply SOTA video generation models to “hallucinate” new synthetic data that features accurate physics in pixels. Using Jensen’s words, “systematically infinite data”! - Latent actions: we develop novel algorithms to extract action tokens from in-the-wild human videos and neural generated videos. GR00T N1 is a single end-to-end neural net, from photons to actions: - Vision-Language Model (System 2) that interprets the physical world through vision and language instructions, enabling robots to reason about their environment and instructions, and plan the right actions. - Diffusion Transformer (System 1) that “renders” smooth and precise motor actions at 120 Hz, executing the latent plan made by System 2. We deploy N1 on GR1 robot, 1X Neo robot, and a large collection of simulation benchmarks. N1 achieves up to +30% boost in diverse manipulation tasks for household and industrial settings. While humanoid robots are the main focus of N1, our model also supports cross-embodiment. We finetune it to work on the $110 HuggingFace LeRobot SO100 robot arm! Open robot brain runs on open hardware. Sounds just right. Let’s solve robotics, together, one token at a time. Links to our Whitepaper, Github repo, HuggingFace model, and open dataset page in the thread: 🧵

Jim Fan

465,968 просмотров • 1 год назад

Teaching robots from human video is an important part of overcoming the “data gap” in robotics, but many of the details still need to be worked out. Homanga Bharadhwaj tells us about two recent research papers, Gen2Act and Spider, which go over different aspects of the problem: Gen2Act uses generative video models to create a reference of how a task should be performed given a language prompt; then, it uses a multi-purpose policy that can “translate” from human video to robot motion. However, Gen2Act has its limitations, in particular when it comes to dexterous, contact-rich tasks. That’s where SPIDER comes in: it uses human data together with simulation to train policies across many different humanoid hands and datasets. Also of note is that this is our first episode with our new rotating co-host, Jiafei Duan. To learn more, watch Episode #57 of RoboPapers now, with Chris Paxton and Jiafei Duan!

Teaching robots from human video is an important part of overcoming the “data gap” in robotics, but many of the details still need to be worked out. Homanga Bharadhwaj tells us about two recent research papers, Gen2Act and Spider, which go over different aspects of the problem: Gen2Act uses generative video models to create a reference of how a task should be performed given a language prompt; then, it uses a multi-purpose policy that can “translate” from human video to robot motion. However, Gen2Act has its limitations, in particular when it comes to dexterous, contact-rich tasks. That’s where SPIDER comes in: it uses human data together with simulation to train policies across many different humanoid hands and datasets. Also of note is that this is our first episode with our new rotating co-host, Jiafei Duan. To learn more, watch Episode #57 of RoboPapers now, with Chris Paxton and Jiafei Duan!

RoboPapers

24,286 просмотров • 6 месяцев назад