How do you get the ground truth expert data for humanoid robots?

[wenshuaizhao]

Hi,

Interesting work! But I didn't get the information from the paper, how do you get the ground truth data with actions for humanoid robots, such as Atlas?

Thanks

[robfiras]

Hi! Thank you for your interest in this work! We are currently preparing the datasets with ground truth data. They will be uploaded in the upcoming days. I will notify you! Best, Firas

[wenshuaizhao]

Hi,

Thanks for your prompt reply! This dataset would be awesome. But I would also like to know how you will obtain the ground truth data. Specifically,

• I guess you use a motion capture system to collect human data. Will you map the human motion trajectory to the simulated robots? And how?
• Even though the above is done, how will you get the action data?

Thanks!

[robfiras]

We optimize the motion capture towards a base humanoid model using Qualsys' optimization software (see paper for reference). Then we manually adapt this data to the different humanoid embodiment using affine transformations. To get the actions, we use the baseline algorithms provided to learn a policy that imitates the motion capture data as good as possible. We will provide the experimental setup, such that you can train an agent yourself if you want.

[wenshuaizhao]

Thanks for your detailed explanation!