We’ve seen humanoid robots walk around for a while, but when will they actually help with useful tasks in daily life?
The challenge here is the diversity and complexity of real-world scenes.
Our new work tackles this problem via 3D visuomotor policy learning. Using data from only 1 scene, our Improved 3D Diffusion Policy (iDP3) enables a full-sized humanoid robot to autonomously pick&place objects, pour water, and wipe tables, in the wild open world.
(and all these skills are useful, right?)
Web: humanoid-manipulation.github.io
Fully open-sourced code: github.com/YanjieZe/Impro…
