

Homietele
Overview :
HOMIEtele is an innovative teleoperation solution designed for humanoid robots, leveraging reinforcement learning and low-cost exoskeleton hardware to achieve precise walking and manipulation. Its significance lies in addressing the inefficiencies and instability of traditional teleoperation systems. By utilizing human motion capture and a reinforcement learning training framework, HOMIEtele enables robots to perform complex tasks more naturally. Key advantages include efficient task completion, elimination of the need for complex motion capture equipment, and rapid training times. Primarily targeting robotics research institutions, manufacturing, and logistics industries, the price isn't publicly available, but its low-cost hardware system offers high cost-effectiveness.
Target Users :
HOMIEtele is ideal for robotics research institutions, manufacturing, and logistics industries. These sectors require efficient and precise robotic manipulation for complex tasks, coupled with rapid training and deployment capabilities. HOMIEtele's low-cost hardware system and efficient training framework make it a compelling choice for these fields.
Use Cases
Robots efficiently transport goods in logistics warehouses using HOMIEtele, enhancing work efficiency.
Researchers train robots to perform complex experimental procedures in laboratories using HOMIEtele.
Robots complete component assembly and handling tasks in factory environments via HOMIEtele.
Features
Enables robots to maintain balance under dynamic upper limb postures through a reinforcement learning training framework.
Supports rapid and stable squatting to specified heights, adapting to diverse task requirements.
Improves data efficiency and ensures strategy symmetry through symmetry optimization during training.
Facilitates full-body control by integrating an isometric exoskeleton arm, motion-sensing gloves, and pedals.
Supports various robot platforms, such as Unitree G1 and Fourier GR-1.
Offers an efficient teleoperation experience, approximately twice as fast as traditional inverse kinematics methods.
Validates the effectiveness of collected data for imitation learning, enabling expansion to more tasks.
Supports task verification in a simulated environment, reducing real-world costs.
How to Use
1. Prepare the hardware system, including the isometric exoskeleton arm, motion-sensing gloves, and pedals.
2. Install and configure the reinforcement learning training framework, selecting a suitable robot model (e.g., Unitree G1 or Fourier GR-1).
3. Train the robot in a simulated environment, utilizing upper limb posture curricula, height tracking rewards, and symmetry optimization techniques.
4. Deploy the trained policies to a real-world robot.
5. Teleoperate the robot using the exoskeleton device and pedals to perform tasks such as walking, squatting, and grasping.
6. Adjust the robot's movements according to task requirements to ensure efficient task completion.
7. Collect teleoperation data for further imitation learning and task expansion.
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