Workhorse：从人类数据学习鲁棒人形全身运动操控

1. 12:00
   arXiv · Robotics

   Workhorse：从人类数据学习鲁棒的全人形机器人全身 loco-manipulation

   Workhorse 从无机器人的人类演示中学习接触丰富的全身操作：视觉规划器预测躯干、双腕与双足的五连杆目标，强化学习全身跟踪器在机器人上执行，两策略在同一批人类姿态数据上分别训练且不做 retargeting，并通过互相模仿对方部署误差扩充数据。

Current heat 9·Comparable peak 10（Oct 8）·Comparable change over 24 hours –

The trend compares only the same participants observed continuously; its range may be smaller than the current heat count. Move or click on the chart to inspect hourly heat; use the left and right arrow keys to switch.