OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning

• URL: http://arxiv.org/abs/2406.08858v1
• Date: Thu, 13 Jun 2024 06:44:46 GMT
• Title: OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
• Authors: Tairan He, Zhengyi Luo, Xialin He, Wenli Xiao, Chong Zhang, Weinan Zhang, Kris Kitani, Changliu Liu, Guanya Shi,
• Abstract summary: We present OmniH2O, a learning-based system for whole-body humanoid teleoperation and autonomy. Using kinematic as a universal control interface, OmniH2O enables various ways for a human to control a full-sized humanoid with dexterous hands. We release the first humanoid whole-body control dataset, OmniH2O-6, containing six everyday tasks, and demonstrate humanoid whole-body skill learning from teleoperated datasets.
• Score: 45.51662378032706
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: We present OmniH2O (Omni Human-to-Humanoid), a learning-based system for whole-body humanoid teleoperation and autonomy. Using kinematic pose as a universal control interface, OmniH2O enables various ways for a human to control a full-sized humanoid with dexterous hands, including using real-time teleoperation through VR headset, verbal instruction, and RGB camera. OmniH2O also enables full autonomy by learning from teleoperated demonstrations or integrating with frontier models such as GPT-4. OmniH2O demonstrates versatility and dexterity in various real-world whole-body tasks through teleoperation or autonomy, such as playing multiple sports, moving and manipulating objects, and interacting with humans. We develop an RL-based sim-to-real pipeline, which involves large-scale retargeting and augmentation of human motion datasets, learning a real-world deployable policy with sparse sensor input by imitating a privileged teacher policy, and reward designs to enhance robustness and stability. We release the first humanoid whole-body control dataset, OmniH2O-6, containing six everyday tasks, and demonstrate humanoid whole-body skill learning from teleoperated datasets.

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