00:14we propose armor a novel egocentric wearable perception hardware and software system for
00:20humanoid robots our system employs low profile and distributed depth sensors and enables
00:27comprehensive point cloud perception around the robot and minimize occlusion here are several
00:34example motion planning sequences from our custom neural policy with armor perception our system
00:40achieves nimble movements and ensures collision avoidance in dense environments even under easily
00:45occluded areas analogous to under the table or inside the drawer we also deployed our armor
00:51perception to perform collision avoidance on a real gr1 humanoid robot from fourier intelligence
00:58with this unique perception we train our imitation learning policy using large-scale procedure human
01:04motion data set this human motion as a planning expert retargets arm motions to a humanoid robot
01:10synthesizing 86 hours of data the one second length of motion the pose at zero seconds becomes the
01:17initial pose and at one second is conditioned as a goal pose we generate tight obstacles around this
01:23human motion and use it for collision avoidance motion we also have an emergency stop and collision free
01:29motion to keep diverse situations
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