Related papers: Unveiling the Impact of Data and Model Scaling on …

Scalable learning of humanoid robots is crucial for their deployment in real-world applications. While traditional approaches primarily rely on reinforcement learning or teleoperation to achieve whole-body control, they are often limited by…

Despite the rise of billion-parameter foundation models trained across thousands of GPUs, similar scaling gains have not been shown for humanoid control. Current neural controllers for humanoids remain modest in size, target a limited set…

Training manipulation policies for humanoid robots with diverse data enhances their robustness and generalization across tasks and platforms. However, learning solely from robot demonstrations is labor-intensive, requiring expensive…

Scaling robot learning requires data collection pipelines that scale favorably with human effort. In this work, we propose Crowdsourcing and Amortizing Human Effort for Real-to-Sim-to-Real(CASHER), a pipeline for scaling up data collection…

From loco-motion to dextrous manipulation, humanoid robots have made remarkable strides in demonstrating complex full-body capabilities. However, the majority of current robot learning datasets and benchmarks mainly focus on stationary…

Learning dexterous and agile policy for humanoid and dexterous hand control requires large-scale demonstrations, but collecting robot-specific data is prohibitively expensive. In contrast, abundant human motion data is readily available…

The advancement of embodied AI has unlocked significant potential for intelligent humanoid robots. However, progress in both Vision-Language-Action (VLA) models and world models is severely hampered by the scarcity of large-scale, diverse…

Building humanoid robots capable of generalizable whole-body loco-manipulation in the real world remains a fundamental challenge. Existing methods either rely on laborious task-specific reward engineering, rigidly replay reference motions…

A critical bottleneck hindering further advancement in embodied AI and robotics is the challenge of scaling robot data. To address this, the field of learning robot manipulation skills from human video data has attracted rapidly growing…

Controlling physics-based humanoids from natural-language instructions is a critical step toward general-purpose embodied agents. However, existing methods remain constrained by a tension between semantic expressiveness and physical…

Recent years have seen the success of Multimodal Large Language Models (MLLMs) in the domain of vision understanding. The success of these models can largely be attributed to the dominant scaling law, which states that larger parameter…

One of the key arguments for building robots that have similar form factors to human beings is that we can leverage the massive human data for training. Yet, doing so has remained challenging in practice due to the complexities in humanoid…

Humanoid robots hold great promise in assisting humans in diverse environments and tasks, due to their flexibility and adaptability leveraging human-like morphology. However, research in humanoid robots is often bottlenecked by the costly…

Humanoid robots, with their human-like form, are uniquely suited for interacting in environments built for people. However, enabling humanoids to reason, plan, and act in complex open-world settings remains a challenge. World models, models…

Human demonstrations offer rich environmental diversity and scale naturally, making them an appealing alternative to robot teleoperation. While this paradigm has advanced robot-arm manipulation, its potential for the more challenging,…

Progress in embodied intelligence increasingly depends on scalable data infrastructure. While vision and language have scaled with internet corpora, learning physical interaction remains constrained by the lack of large, diverse, and richly…

A significant bottleneck in humanoid policy learning is the acquisition of large-scale, diverse datasets, as collecting reliable real-world data remains both difficult and cost-prohibitive. To address this limitation, we introduce…

Synthetic simulation data and real-world human data provide scalable alternatives to circumvent the prohibitive costs of robot data collection. However, these sources suffer from the sim-to-real visual gap and the human-to-robot embodiment…

Humanoid robots capable of autonomous operation in diverse environments have long been a goal for roboticists. However, autonomous manipulation by humanoid robots has largely been restricted to one specific scene, primarily due to the…

While recent advances in humanoid locomotion have achieved stable walking on varied terrains, capturing the agility and adaptivity of highly dynamic human motions remains an open challenge. In particular, agile parkour in complex…