HDMI-DP
Humanoid loco-manipulation with direct perception
Perception-based humanoid control that lifts 2D contact tracks into 3D without motion-capture supervision.
- Built a perception pipeline using CoTracker and camera geometry to lift 2D contact tracks into 3D for Isaac Sim.
- Achieved 0.27 px 2D and 0.38 cm 3D contact tracking error without any mocap supervision.