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simmediummanipulation-datametric · varies
$Ψ_0$: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation
Description
We introduce $Ψ_0$ (Psi-Zero), an open foundation model to address challenging humanoid loco-manipulation tasks. While existing approaches often attempt to address this fundamental problem by co-training on large and diverse human and humanoid data, we argue that this strategy is suboptimal due to the fundamental kinematic and motion disparities between humans and humanoid robots. Therefore, data efficiency and model performance remain unsatisfactory despite the considerable data volume. To addr