arXiv subjects

Henghui Bao

Publications and source records attributed to Henghui Bao.

3 recordsLinked to original sources

arXiv2026

HumDex: Humanoid Dexterous Manipulation Made Easy

This paper investigates humanoid whole-body dexterous manipulation, where the efficient collection of high-quality demonstration data remains a central bottleneck. Existing teleoperation systems often suffer from limited portability, occlusion, or insufficient precision, which hinders their applicability to complex whole-body tasks. To address these challenges, we introduce HumDex, a portable teleoperation system designed for humanoid whole-body dexterous manipulation. Our system leverages IMU-based motion tracking to address the portability-precision trade-off, enabling accurate full-body tracking while remaining easy to deploy. For dexterous hand control, we further introduce a learning-based retargeting method that generates smooth and natural hand motions without manual parameter tuning. Beyond teleoperation, HumDex enables efficient collection of human motion data. Building on this capability, we propose a two-stage imitation learning framework that first pre-trains on diverse human motion data to learn generalizable priors, and then fine-tunes on robot data to bridge the embodiment gap for precise execution. We demonstrate that this approach significantly improves generalization to new configurations, objects, and backgrounds with minimal data acquisition costs. The entire system is fully reproducible and open-sourced at https://github.com/physical-superintelligence-lab/humdex.

cs.RO↗

arXiv2023

Value Explicit Pretraining for Learning Transferable Representations

Understanding visual inputs for a given task amidst varied changes is a key challenge posed by visual reinforcement learning agents. We propose \textit{Value Explicit Pretraining} (VEP), a method that learns generalizable representations for transfer reinforcement learning. VEP enables efficient learning of new tasks that share similar objectives as previously learned tasks, by learning an encoder that trains representations to be invariant to changes in environment dynamics and appearance. To pretrain the encoder with \textit{suboptimal unlabeled demonstration data} (sequence of observations and sparse reward signals), we use a self-supervised contrastive loss that enables the model to relate states across different tasks based on the Monte Carlo value estimate that is reflective of task progress, resulting in temporally smooth representations that capture the objective of the task. A major difference between our method and the existing approaches is the use of suboptimal unlabeled data that do not always solve the task. Experiments on Ant locomotion, a realistic navigation simulator and the Atari benchmark show that VEP outperforms current SoTA pretraining methods on the ability to generalize to unseen tasks. VEP achieves up to $2\times$ improvement in rewards, and up to $3\times$ improvement in sample efficiency. For videos of VEP policies, visit our \href{https://sites.google.com/view/value-explicit-pretraining/}{website}.

cs.LG↗

arXiv2023

Open X-Embodiment: Robotic Learning Datasets and RT-X Models

Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, this has led to a consolidation of pretrained models, with general pretrained backbones serving as a starting point for many applications. Can such a consolidation happen in robotics? Conventionally, robotic learning methods train a separate model for every application, every robot, and even every environment. Can we instead train generalist X-robot policy that can be adapted efficiently to new robots, tasks, and environments? In this paper, we provide datasets in standardized data formats and models to make it possible to explore this possibility in the context of robotic manipulation, alongside experimental results that provide an example of effective X-robot policies. We assemble a dataset from 22 different robots collected through a collaboration between 21 institutions, demonstrating 527 skills (160266 tasks). We show that a high-capacity model trained on this data, which we call RT-X, exhibits positive transfer and improves the capabilities of multiple robots by leveraging experience from other platforms. More details can be found on the project website https://robotics-transformer-x.github.io.

cs.RO↗