Berkeley Humanoid Lite · published recipe
VR teleoperation of arms (SteamVR bridge)
Record
- Robot
- Berkeley Humanoid Lite berkeley/humanoid-lite
- Framework
- SteamVR-Bridge (Windows) + IK solver · other
- Policy license
- not stated by the package · robot software repos: MIT
- File
- scripts/teleop/run_teleop.py
Not in the tab yet
To replay this policy in the browser we need an ONNX export of a trained checkpoint, the observation and action contract copied from the authors' own sim2sim or deploy script, and a MuJoCo model of the robot that the contract matches. Then it must walk 60 s in our runtime without a fall. Until then the source link is the way in.
Other Berkeley Humanoid Lite policies · 5
- Velocity-Berkeley-Humanoid-Lite-v0 (22-DoF full humanoid velocity tracking)Isaac Lab 2.1.0 / Isaac Sim 4.5.0 + rsl_rl PPO; ONNX deploy (policy_dt 0.04 s = 25 Hz)
- Velocity-Berkeley-Humanoid-Lite-Biped-v0 (12-DoF legs only)Isaac Lab + rsl_rl PPO; ONNX (policy_dt 0.02 s = 50 Hz); also policy_biped_25hz_a/b.onnx
- Humanoid legs-only policyIsaac Lab + rsl_rl; ONNX
- Video demo policyIsaac Lab + rsl_rl; ONNX
- Sim2sim validation in MuJoCoMuJoCo