OpenDriveLab / EgoHumanoid-V2

EgoHumanoid-V2 
 🤖 Human-to-humanoid skill transfer for coordinated whole-body loco‑manipulation. 
Human demonstrations capture rich whole-body motion across diverse scenes without robot teleoperation. **EgoHumanoid-V2** transfers these coordinated skills to a humanoid through coarse-to-fine action alignment: kinematic reference correction improves motion targets, and dynamics-aware refinement improves their execution through a frozen whole-body controller.
Visual alignment replaces human arms with rendered robot arms, while training-time image augmentation improves viewpoint robustness. A **π₀.₅ vision-language-action policy** learns from the aligned demonstrations and executes through **Unitree G1 + BrainCo Revo2 + the SONIC whole-body controller**. The paper evaluates zero-shot transfer on four real-world tasks without target-task robot demonstrations.
---
### Workflow & Release Checklist
> **Coming soon:** The remaining unchecked items are expected to be released within the next two weeks. Stay tuned!
1. **Hardware Setup**
 - [x] Robot Hardware
 - [x] Human Hardware
2. **Environment Setup**
 - [x] Robot Control & Data Collection
 - [x] Human Data Collection
 - [x] Policy Training & Serving
3. **Data Collection**
 - [x] Human Collection
 - [ ] Robot Collection
4. **Data Alignment**
 - [x] **Action Alignment** ⭐
 - [ ] Vision Alignment
5. **Model Training**
 - [ ] Training pipeline
6. **Policy Deployment**
 - [ ] Deployment pipeline
---
## 🛠️ Hardware Setup
 Human Hardware 
 🔴 PICO 4 Ultra 
- **Tracking:** PICO 4 Ultra + trackers for whole-body and hand tracking
- **Software:** XRobo​Toolkit Setup guide · Python SDK
- **Connec​tion:** same LAN as the PC enable Head, Hand and Send
 🔵 5× PICO Trackers 
- **Placement:** five trackers both wrists, waist and both ankles
- **Calibration:** PICO Motion Tracker pair and calibrate in the app (guide)
- **Mode:** Full Body in XRobo​Toolkit enable Hand tracking (setup guide)
 🟠 GoPro 
- **Mount:** neck-mounted bracket Example: JD listing
- **Alignment:** match height, pitch and framing to the robot camera
- **Connec​tion:** Bluetooth pairing and WiFi setup; WiFi / COHN recording and download (API)
 Robot Hardware 
 🟢 Unitree G1 
- **Platform:** Unitree G1, 29 body DOF excluding hands (joint layout)
- **Control:** SONIC whole-body controller runs on an external Linux PC
- **Connec​tion:** wired or WiFi to the PC via the ZMQ bridge
 🔵 BrainCo Revo2 
- **Hand:** 6 active DOF per hand 11 including passive joints (specs)
- **Software:** official SDK hand control and state feedback
- **Mount:** custom G1–Revo2 adapters STL: part 1 · part 2
 🟠 GoPro 
- **Mount:** head-mounted bracket STL: part 1 · part 2
- **Alignment:** match height, pitch and framing to the human camera
- **Connec​tion:** USB control and video to robot; wired / WiFi forwarding to host (API)
## 💻 Environment Setup
We use three separate environments: one for robot control, teleoperation and data collection; one for collecting human demonstrations