BumbleBee, an expert-to-generalist pipeline using autoencoder-based motion clustering and per-cluster delta action models, reports state-of-the-art whole-body control on a Unitree G1 humanoid, with success rates of 89.58% in IsaacGym and 66.84% in MuJoCo.
Graspit! a versatile simulator for robotic grasping.IEEE Robotics & Automation Magazine, 11(4):110–122, 2004
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From Experts to a Generalist: Toward General Whole-Body Control for Humanoid Robots
BumbleBee, an expert-to-generalist pipeline using autoencoder-based motion clustering and per-cluster delta action models, reports state-of-the-art whole-body control on a Unitree G1 humanoid, with success rates of 89.58% in IsaacGym and 66.84% in MuJoCo.