Guanqi He
@guanqi_he
PhD at Tsinghua Univeristy, Wuji Tech @wuji_global | Prev. Amazon FAR, CMU @LeCARLab, @AirLabCMU | control and robotics
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TopoRetarget enables a dexterous manipulation RL mimic pipeline from human demonstrations to real-world robot execution.
With TopoRetarget + RL tracking, we achieve zero-shot sim-to-real pen spinning on the Wuji Hand.🎉🎉🎉
We collect human hand-object motion with Wuji Glove, retarget the human demonstration to wuji hand while preserving hand-object interaction information, and train a RL policy to track the resulting hand-object reference.
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