Whole-body Humanoid Robot Adam Locomotion with Human Reference.

Рет қаралды 26,625

3 ай бұрын

Whole-body Humanoid Robot Locomotion with Human Reference.
arxiv: arxiv.org/abs/2402.18294
Qiang Zhang1,∗, Peter Cui2,∗, David Yan2, Jingkai Sun1, Yiqun Duan3, Arthur Zhang2, Renjing Xu1,†.
1. Hong Kong University of Science and Technology (GZ)
2. PNDbotics
3. Human Centric AI Centre, Australia Artificial Intelligence Institute, University of Technology Sydney 2007 Ultimo
Recently, humanoid robots have made significant advances in their ability to perform complex tasks due to the deployment of Reinforcement Learning (RL), however, the inherent complexity of humanoid robots, including the difficulty of planning complex reward functions and training entire complex systems, still poses a notable challenge.
To conquer these challenges, after many iterations and in-depth investigations, we have meticulously developed a full-size humanoid robot, 'Adam', whose innovative structural design greatly improves the efficiency and effectiveness of the imitation learning process.
In addition, we have developed a novel imitation learning framework based on an adversarial motion prior, which applies not only to Adam but also to humanoid robots in general.
Using the framework, Adam can exhibit unprecedented human-like characteristics in locomotion tasks.
Our experimental results demonstrate that the proposed framework enables Adam to achieve human-comparable performance in complex locomotion tasks, marking the first time that human locomotion data has been used for imitation learning in a full-size humanoid robot.
If you are interested in this humanoid robot, feel free to contact me (peter.htcui@gmail.com, peter.cui@pndbotics.com). :-)
#robot #robotics #humanoidrobot #ai

Пікірлер: 71

@PencilParasite 3 ай бұрын

Nice hips configuration 👍

@squarewheel9113 2 ай бұрын

This is the Pixar moms variant

@mikailorsborn5865 Ай бұрын

@@squarewheel9113true lol

@llnu2776 3 ай бұрын

finally someone design hip like this

@dalegribble60 3 ай бұрын

Those dance moves are off the charts!

@Rctdcttecededtef 3 ай бұрын

It already dances better than I can

@creative_cooper 3 ай бұрын

Damnn... this is the best I've seen so far 😮. Congratulations 🎊

@Danuxsy 3 ай бұрын

I love this design, good job!

@ulforcemegamon3094 3 ай бұрын

Hips design is really good , closer to human anatomy conpared to others

@user-gt9de1ld2y 3 ай бұрын

I love the hip design

@stratch27 Ай бұрын

Omg its so thicc and its part of Design What a time to be alive

@PNDbotics 3 ай бұрын

This video has hidden two Easter eggs. Let's see if professionals or enthusiasts can discover them.

@timeTegus 3 ай бұрын

i found one ester egg. its the ramp. :)

@trl2151 3 ай бұрын

Robot is thicc

@user-fg5pl2xm9h 2 ай бұрын

Thank you for publishing the article “Whole-body Humanoid Robot Adam Locomotion with Human Reference” You did an amazing job and showed great results in the video. I have a few questions about your research paper and robot, could you answer them? 1. How did you solve the sim to real problem? I would like to hear more problems that you encountered and how you solved them. 2. Did you use a simple PD controller or an Actuator Network to simulate actuators in the simulator? 3. Have you measured the performance of your actuators on a dyno? Have you collected data sets from your engines on a dyno for Actuator Network training? 4. Can you disclose the technical details of all the actuators you use and the price at which you sell them? 5. Can you reveal what RCU(Robot control unit) is? Is this an intermediate board between the motor controllers and the computer? How does it communicate with the actuators? ethernet? Do you have synchronization for simultaneously receiving state from all actuators? What is the timing jitter? 6. Can you tell us more about the actuator control SDK? Where can I look at examples of actuator control source code? 7. What are your future plans? Will you sell the entire robot? Will you only sell actuators? What software do you provide?

@pcguidelk 2 ай бұрын

we all walk like that without a head. give it a head an eyes.

@jonawesomejony561 Ай бұрын

Y’all should put a foam Freddy Fazbear suit on it, it would probably look sick

@kutay.t 3 ай бұрын

0:34 This is very impressive. It balanced itself like humans do. I think this robot is more human like than figure 01 robot. Figure 01 robot seems to me bulky.

@lazarusblackwell6988 3 ай бұрын

Looks great :)

@AnnanTang 3 ай бұрын

Nice work!

@jatigre1 3 ай бұрын

Grammar police here: I think they meant "To be continued".

@sharpcircle6875 3 ай бұрын

Yeah, they showcased such clean robotics works, just for all of that to be ruined by an English spelling mistake :v

@jatigre1 3 ай бұрын

@@sharpcircle6875 😣

@skillsandhonor4640 Ай бұрын

good job

@rangerCG 3 ай бұрын

One thing I've learned from watching countless hours of virtual creatures learn to move is that their movements which we identify and connect with emotionally, like that uncanny recovery from a "cruel" push, or a desperate arm reaching up to the top of a rock to grab a handhold - these movements are simply the exact opposite of the failure to oppose gravity, or in other words, the furthest movement one can solve for that opposes lying on the ground motionless and dying. The least like a rock something can move like if given the task to come up with those motions. I would describe the machine learning that creates this dynamic movement this way (ultra-simplified): A virtual or real world machine body is given the task of trying to use its many movement mechanisms (muscles) in all possible ways. This isn't a random exercise, so a goal is set for the sum total of its movement to cause something that we value to happen. In this case the goal is that the robot achieves robust bipedal locomotion. The random motion (sometimes with hinted help, though help isn't necessary for success - it just speeds up the search) is started, and the machine learning algorithms begin the hunt for motion that is not rock-like. Evolution takes place, millions of virtual creatures with virtual genes, living and dying over millions of virtual years, and movements begin to emerge that look familiar to us. It's like a giant container of random movements is falling through countless sifters - and the ones that happen to achieve specific helpful mini-tasks are kept (by the digital genes of the creature). The movements are all related to one another and work potentially in concert, and before you know it, a robot appears to really not want to fall down. A process like this happened to create us (our forms also came about this way in addition to our movements). All the movements and behaviors we hold dear (indeed even our existence) are important because we say they're important, which in my opinion is completely valid, but the actual physical reason they came to be is that something once did something un-rock like, which was to duplicate imperfectly. That created competition by creating unending motion of individual objects, along with the inequality of those objects, as well as finite resources. We are the exact opposite of not moving, and we are now making new creatures that also have those attributes. One can't help but wonder if many of our behaviors are to ease loneliness, which would make sense in terms of the thing that caused us, which was duplication.

@joannot6706 3 ай бұрын

very good robot!

@arwenh82 3 ай бұрын

awesome! you should go to the conference IEEE HUMANOIDS 2024 and present your robot there!

@harryoc2948 3 ай бұрын

Hey! Awesome paper!! Great Gait, are you planning to publish the hardware design?

@zalzalahbuttsaab 3 ай бұрын

THAT is slick

@kpogatchnik 3 ай бұрын

Great vid! Unrelated question- what brand of cabinets are you using? I love the look of them.

@7n39BabaYaga 3 ай бұрын

我只能说太厉害了

@primenumberbuster404 3 ай бұрын

GYAAAAAAAAAAT

@xuewang3250 3 ай бұрын

COOL

@dyros_kwlee 2 ай бұрын

Very impressive! Did you use the passive ankle joints?

@Needglory23 3 ай бұрын

This is how the human vs robot war will start in the future 😲

@arifinaja963 2 ай бұрын

Not perfect but that's look like pretty normal leg, not the bended ones. Good job keep going

@hotorchilipepper1464 3 ай бұрын

Yep, with those reflexes women will be replaced; Imagine if it had the intellect of Chatgpt 5 and could cook, clean, and massage without complaints.😅 The future is bright.

@junwencui2370 3 ай бұрын

Awesome work!

@Nostalgia18 3 ай бұрын

Waiting for the next update

@therobotreport7420 3 ай бұрын

Do you use an inverted pendulum or a pogo stick walking algorithm?

@eliaskouakou7051 Ай бұрын

Why aren’t you using McKinley muscle for stability?

@khkgkgkjgkjh6647 3 ай бұрын

Really interesting design. Can you explain a bit about the design of the robot, especially why the hip actuators are angled like that?

@arcmchair_roboticist 3 ай бұрын

Not the guy that designed this but in my experience this is done to limit the width of the hips when using large hip actuators.

@Tubeytime 3 ай бұрын

Not the designer but a femur's ball attaches to its socket at an angle similar to that of the robot, so I assume they just copy and pasted nature's design.

@ulforcemegamon3094 3 ай бұрын

It feels sorta similar to how human works , see how the human hip works , and then see the robot and you will notice many similarities

@Micah-HQ 3 ай бұрын

Hello! what's simulation environment?

@HeroGamerBrazil Ай бұрын

É muito estranho ver um robô humanoide é confuso demais kkkk

@user-rr9fy4ie8w 3 ай бұрын

테슬라가 대단하네..인간 모습에 가깝게...만드는게 안되나봐..다른 업체들은. 영...모양이...

@crazzy7822 3 ай бұрын

cool, humanoid robot soon will have a straight legs.

@violinviolator5841 3 ай бұрын

The weak link here is the feet, its why it has to waddle a little, but feet like a human on a robot is really hard

@d33zknots88 3 ай бұрын

Do you have a website?

@user-bx9fc9lr5s 3 ай бұрын

😮

@qiuweida 3 ай бұрын

实话实说，现在的双足步行机器人，都走的像“僵尸”，都是小步快走，没有一个能像人类那样顺畅的走路。

@pottacoola 20 күн бұрын

Because of how them hip motors are angled it wont have the best mobility, when the robot lifts its leg up it doesn't just go up its pivoting out and when it lifts its leg backwards its pivoting out too. It will be a bigger problem is they ever get it to run. Not the best design for hip and leg movement.

@cubirk 3 ай бұрын

I wish i was born 10 years earlier Im just 17 an still on school and most of the shit im learning about is theoretical i want to do a practical proyect so badly maaan

@198-rx 3 ай бұрын

Dark MediEvil Times 🤔

@Rctdcttecededtef 3 ай бұрын

One day

@theblahbutinihead1504 12 күн бұрын

Thicc

@KIMKIM.mr.S 2 ай бұрын

pertect design !

@hankb7725 2 ай бұрын

obviously this is CGI

@annaleung3141 2 ай бұрын

obviously not

@hankb7725 2 ай бұрын

@@annaleung3141 most people aren’t knowledgeable when it comes to CGI, so they are not equipped to tell the difference. Its very good. But the problem it’s it’s too sharp and clear. And the motion shows some artifacts of being keyframed. If this was a real project, you would see many many many videos. They would be content about this everywhere.. but it’s just one video someone managed to make look pretty realistic. And another problem is as CGI improves. It gets harder and harder and nearly impossible to detect. So until you see them walking around among us, there’s really no reason to believe they are real yet because all you’re doing is seeing videos

@J_gumbainia 2 ай бұрын

@@hankb7725 are you religious?.

@hankb7725 2 ай бұрын

@@J_gumbainia what does that have to do with anything?

@hankb7725 2 ай бұрын

why are people so gullible? this is CGI