Social Humanoid paper: shared-codebook VQ-VAE drives real-time G1 social interaction
CyberRobooo · x · 2026-11-07
The author shares the Social Humanoid project page (CoRL 2026; authors include Malik, Darrell, Kanazawa). Key points: a hierarchical system where a shared-codebook VQ-VAE tokenizes human and humanoid motion into a unified latent space with a Diffusion Forcing Transformer for cross-embodiment generation, plus a whole-body tracking controller on a 29-DoF Unitree G1; a two-phase adaptive retargeting preserving contact dynamics and reach across five mocap datasets; and a new 260-hour Human-Humanoid Interaction benchmark. Real-time RGB-D-driven handshakes, high-fives and hugs demonstrated; code and data coming soon.
Related event: Berkeley, Sony and Meta teach Unitree G1 humanoid social skills(3 posts)→
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