Weihan Li

Weihan Li

Robot Demos

Learning Dexterous Bimanual Skills from Human Demonstrations

A human demonstration shows what to do with an object, but not how a robot hand should do it. Robot hands differ from human hands in size, joints and dynamics, so replaying human motion directly breaks contact and drops the object. The question is how to turn human hand–object motion into skills a robot can actually execute, on more than one kind of robot hand.

  1. 1Human demonstrationwhat to do
  2. 2Retargetinghuman hand → robot hand
  3. 3RL in simulationhow to do it robustly
Hardware Sharpa hands Wuji hands Vega humanoid arms
Human demo (left) and an RL expert with Sharpa hands in simulation (right): lift, hand over, place.
One Wuji hand opens and closes the lid, in simulation.
Two Wuji hands open and close the lid, in simulation.