RoboPapers Ep#10 Human Policy ~ Humanoid Policy
It’s hard to collect data for humanoid robots at sufficient scale for generalization. The authors of “Humanoid Policy ~ Human Policy” have the answer: collect human data at scale, and retarget it to humanoid robots.
This acts as a multiplier, letting you get away with using far less robot data to accomplish challenging robot tasks. Watch or listen to learn more.
Abstract:
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 teleoperated data collection which is difficult to scale. This paper investigates a more scalable data source, egocentric human demonstrations, to serve as cross-embodiment training data for robot learning. We mitigate the embodiment gap between humanoids and humans from both the data and modeling perspectives. We collect an egocentric task-oriented dataset (PH2D) that is directly aligned with humanoid manipulation demonstrations. We then train a human-humanoid behavior policy, which we term Human Action Transformer (HAT). The state-action space of HAT is unified for both humans and humanoid robots and can be differentiably retargeted to robot actions. Co-trained with smaller-scale robot data, HAT directly models humanoid robots and humans as different embodiments without additional supervision. We show that human data improves both generalization and robustness of HAT with significantly better data collection efficiency. Code and data: this https URL
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