Songbo Hu

Senior undergrad at Tsinghua University, Yao class (IIIS).

[Songbo Hu @songbo_]

Can a humanoid learn robust whole-body loco-manipulation directly from a human? No robot, no teleop, no retargeting.
Meet Workhorse 🐴: our G1 topples and climbs a suitcase, catches a thrown box, and sorts boxes with hands and a kick. Fully autonomous.
More videos at https://t.co/HrxCv199F7

[Zhanpeng He @zhanpeng_he]

Teleoperation is usually used to control robots. We present DITTO-X, a framework that works both ways:

🖐️➡️🤖 In forward teleoperation, you can control diverse dexterous hands with force and haptic feedback.
🤖➡️🖐️ In reverse teleoperation, the robot moves your hand to match its own state while an autonomous policy runs, so you can intervene fluently whenever it goes wrong.

Why does this matter? Taking over a dexterous hand mid-task is hard. Any mismatch between your hand pose and the robot state can cause an unstable grasp and make the robot drop the object. With reverse teleoperation, every takeover starts from the robot's own state, and these smooth interventions become DAgger data that make our policy more robust each round.

Find more information at:
🌐 https://t.co/pUunM8u15L
📄 https://t.co/tVBEuJ8Z3I

co-led with @jbps_2001.

[Yen-Jen Wang @wangyenjen]

Practice makes perfect. A truly agentic robot shouldn’t just know what to do. It should also figure out how to get better.

What if a robot could watch a demonstration, figure out what it needs to practice, and learn how to get better through practice?

Introducing RPG: Guided Self-Improvement for Embodied Agents, a real-to-sim-to-real pipeline that turns real-world demonstrations into targeted practice.

RPG reconstructs practice tasks from demonstrations, uses demo videos to guide skill improvement, and continually updates a shared skill system from failures.

On real robots, RPG achieves 30/30 successes across 3 tasks. In simulation, it reaches 95.0% success across 22 manipulation tasks after 15 rounds of self-improvement.

Demo → Reconstruct → Guided Practice → Self-Improve → Go Real

[Songbo Hu @songbo_]

Thanks to @qiayuanliao, @t_k_233, @kevin_zakka, Yakun Sophia Shao, @pabbeel, and @KoushilSreenath for the amazing collaboration!

[Songbo Hu @songbo_]

Can a humanoid learn robust whole-body loco-manipulation directly from a human? No robot, no teleop, no retargeting.
Meet Workhorse 🐴: our G1 topples and climbs a suitcase, catches a thrown box, and sorts boxes with hands and a kick. Fully autonomous.
More videos at https://t.co/HrxCv199F7

[Songbo Hu @songbo_]

Even workhorses stumble: the blooper reel. 💥