CoWBC 23 visual results
Research Project

CoWBC: Unconstrained Collaborative Transport with Dual Humanoid Robots

▶ Visual Results
01 / 04

Human-to-robot transfer

Motion Retargeting

Human demonstrations are retargeted to two humanoid robots.

R—01

Carry the Box Sideways

00:16
R—02

Rotate the Box Together

00:10
R—03

Carry the Box Straight

00:10
R—04

Carry the Box Diagonally

00:22
R—05

Carry Straight, Then Rotate

00:14
R—06

Carry the Object Sideways

00:13
R—07

Carry the Box Sideways

00:17
R—08

Rotate the Box Together

00:12
R—09

Carry Straight, Then Sideways

00:16
R—10

Carry Sideways, Then Straight (L-Shape)

00:12
R—11

Carry Straight and Place the Object

00:11
02 / 04

Large-scale simulation

Policy Learning in Isaac Lab

The robots learn coordinated transport in parallel simulation.

T—01

Train Multiple Transport Motions

00:14
T—02

Lift the Box Together

00:13
T—03

Rotate the Box Together

00:07
T—04

Balance and Carry the Box to the Target

00:08
T—05

Carry the Box Along a V-Shaped Path

00:14
03 / 04

Pre-deployment validation

Sim2Sim Alignment

MuJoCo provides the final pre-deployment simulation for aligning the control stack with the real robots.

S—01

Lift and Lower the Box in Place

00:13
S—02

Carry the Storage Box Together

00:08
S—03

Rotate the Box Together

00:07
04 / 04

Physical experiments

Real-world Deployment

Hardware results for lifting, straight transport, rotation, and lateral motion.

H—01

Lift and Place the Box

00:08
H—02

Carry the Box Straight

00:12
H—03

Rotate the Box Together

00:13
H—04

Carry the Box Sideways

00:15