This repo contains the officail model checkpoints for the paper "Learning from Massive Human Videos for Universal Humanoid Pose Control" If you like our project, please give us a star ⭐ on GitHub for latest update.

Our model checkpoints contain a transformer model UH1_Transformer.pth and an action tokenizer UH1_Action_Tokenizer.pth. For the usage/inference of these models, please refer to the codes here.

UH-1 Model Architecture

UH-1 Real Robot Demo Results

Citation

If you find our work helpful, please cite us:

@article{mao2024learning,
  title={Learning from Massive Human Videos for Universal Humanoid Pose Control},
  author={Mao, Jiageng and Zhao, Siheng and Song, Siqi and Shi, Tianheng and Ye, Junjie and Zhang, Mingtong and Geng, Haoran and Malik, Jitendra and Guizilini, Vitor and Wang, Yue},
  journal={arXiv preprint arXiv:2412.14172},
  year={2024}
}