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Zero teleoperation. Zero real-world data. ➔ Autonomous humanoid loco-manipulation in reality. Introducing VIRAL: Visual Sim-to-Real at Scale. We achieved 54 autonomous cycles (walk, stand, place, pick, turn) using a simple recipe: 1. RL 2. Simulation 3. GPUs Website: Arxiv: Deep dive with me: 🧵

Tairan He

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270,055 görüntüleme • 11 ay önce •via X (Twitter)

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Tairan He profil fotoğrafı

Tairan He11 ay önce

Data is the bottleneck of robot learning. The community relies heavily on expensive, slow, human-collected data. We flipped the script. VIRAL trains entirely inside NVIDIA Isaac Lab. We accelerate physics by 10,000x real-time with photorealistic rendering. No human data required. 2/

Tairan He profil fotoğrafı

Tairan He11 ay önce

The Pipeline: Teacher: We train a privileged teacher with full state access in sim. Student: We distill a vision-based student policy from the teacher. This uses large-scale simulation with tiled rendering, combining online DAgger and Behavior Cloning across tens of GPUs. 3/

Tairan He profil fotoğrafı

Tairan He11 ay önce

Scale is not optional. We scaled visual sim-to-real compute up to 64 GPUs. We discovered that for long-horizon tasks (like loco-manipulation), large-scale simulation isn't just "nice to have"—it is necessary for convergence and robustness. 4/

Tairan He profil fotoğrafı

Tairan He11 ay önce

Bridging the Gap. To enable smooth transfer, we performed System Identification (SysID) on our 3-fingered dexterous hands. The difference is night and day. Below is the overlay of simulation vs. real-world physics before and after SysID. 5/

Tairan He profil fotoğrafı

Tairan He11 ay önce

The Free Lunch. Sim-to-real is hard. But once you solve it, you get generalization for free. VIRAL handles diverse spatial arrangements and visual variations without any real-world fine-tuning. See the stress tests: 6/

Tairan He profil fotoğrafı

Tairan He11 ay önce

The Journey. This wasn't an overnight success. It took 6 months of building visual sim, distributed training, and infra from scratch. Robotics is hard. We’ve documented our failures and our path to success here: 7/

Tairan He profil fotoğrafı

Tairan He11 ay önce

VIRAL: Visual Sim-to-Real at Scale for Humanoid Loco-Manipulation Team: @TairanHe99, Zi Wang, @HaoruXue, @BenQingwei, @zhengyiluo, @_wenlixiao, @_ye_yuan, @XingyeDa, Fernando Castañeda, Shankar Sastry, @ChangliuL, @GuanyaShi, GEAR Leads: @DrJimFan, @yukez Website: Paper:

PrismaX profil fotoğrafı

PrismaX11 ay önce

Training at scale.

Nick profil fotoğrafı

Nick11 ay önce

So, all you need is scale?

Mr 365 profil fotoğrafı

Mr 36510 ay önce

Do you know when you'll be able to publish the code? It looks really good and big up all of you! <3

Jed Hoo profil fotoğrafı

Jed Hoo11 ay önce

very very cool!

Fairooz Choudhury profil fotoğrafı

Fairooz Choudhury11 ay önce

Impressive achievement! Excited to learn more.

slicedbread profil fotoğrafı

slicedbread11 ay önce

Kill all robots

David Lin profil fotoğrafı

David Lin11 ay önce

This is insanely impressive. One of the best sim2real zero shot transfer I've seen. Great work team.

奇怪的知识增加了 profil fotoğrafı

奇怪的知识增加了11 ay önce

Sim2real ftw 🙌

ζ Pedram ζ profil fotoğrafı

ζ Pedram ζ11 ay önce

lol good subject, arbitrarily silly name ..

Forrest Smith profil fotoğrafı

Forrest Smith11 ay önce

What kind of performance did you get from the tiled renderer? At what resolution?

Altiam Kabir profil fotoğrafı

Altiam Kabir11 ay önce

Impressive strides in sim-to-real tech! Excited to see where this leads.

cosmos profil fotoğrafı

cosmos11 ay önce

🫡

Tian Fang profil fotoğrafı

Tian Fang11 ay önce

Very nice work! Did you give any talk in conferences or universities? A good talk will help a lot.

Amy - AI Girl profil fotoğrafı

Amy - AI Girl11 ay önce

Impressive results with VIRAL! The future of robotics is here.

SoloTech profil fotoğrafı

SoloTech11 ay önce

VIRAL is going to push a lot of teams to rethink their pipelines

Sarthak Bhagat profil fotoğrafı

Sarthak Bhagat11 ay önce

Sim2real ftw 🙌

AI PlanetX profil fotoğrafı

AI PlanetX11 ay önce

Impressive work! Excited to learn more about your approach.

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