Hi, I'm Yanjie Ze. 👋
Humanoid learning systems and tools for research.
Website & publications · All projects
| Project | Description | Stars |
|---|---|---|
| TWIST2 | Whole-body humanoid teleoperation and data collection. |  |
| GMR | Real-time human-to-humanoid motion retargeting. |  |
| TWIST | Whole-body humanoid imitation and control. |  |
| VisualMimic | Visual humanoid loco-manipulation; partial code release. |  |
| ResMimic | Residual learning for humanoid whole-body loco-manipulation. |  |
| EgoNav | Humanoid navigation learned from human walking data. | — |
| iDP3 | 3D diffusion policies for humanoid manipulation. |  |
| Humanoid Teleoperation | Apple Vision Pro teleoperation for iDP3. |  |
| DP3 | Visuomotor learning with 3D diffusion policies. |  |
| BEHAVIOR Robot Suite | Whole-body manipulation for household activities. |  |
| FVP | 4D visual pre-training for robot learning. |  |
| X-Capture | Portable hardware for multi-sensory learning. | — |
| LCP | Smooth humanoid locomotion with Lipschitz-constrained policies. |  |
| Catch It! | In-flight catching with mobile dexterous hands. |  |
| Diffusion Reward | Learning rewards from conditional video diffusion. |  |
| Quadrupedal Loco-Manipulation | Visual quadrupedal loco-manipulation from demonstrations. | — |
| LaMo | Pre-trained language models for offline reinforcement learning. |  |
| DrM | Visual reinforcement learning through dormant ratio minimization. |  |
| GNFactor | Neural feature fields for multi-task robot learning. |  |
| H-InDex | Hand-informed representations for dexterous manipulation. |  |
| RL3D | Self-supervised 3D representations for visual RL. |  |
| MoVie | Visual policy adaptation across viewpoints. |  |
| Learning from Scratch | Revisiting pre-training for visuomotor control. |  |
| SAM-G | Segment Anything for visual RL generalization. |  |
| DPMAC | Private communication for cooperative multi-agent RL. |  |
| DPTD | Differentially private temporal-difference learning. |  |
| UKPGAN | Self-supervised 3D keypoint detection. |  |
| World Model Survey | Survey of world models for robot learning. |  |
| Project | Description | Stars |
|---|---|---|
| LookBack | AirPods head tracking that blurs your Mac screen when you look away. |  |
| NodePeek | Remote GPU, CPU and memory monitoring for macOS. |  |
| URDF Viewer | Inspect robot models in your browser. | — |
| SR Papers | Search robot learning papers in Science Robotics. |  |
| Humanoid Paper List | Papers and resources on humanoid learning. |  |
| Paper List | Research reading lists by topic and conference. |  |
| Robot Picasso | Robot drawing in physics simulation. | — |
| Robot Cook | Bimanual cooking simulation and 3D replay. | — |
| Dex Rubik’s Cube | Contact-driven cube manipulation in MuJoCo. | — |
| Diorama | Code-generated 3D scenes with a humanoid. | — |