HumanoidMimicGen: Data Generation for Loco-Manipulation via Whole-Body Planning

Imitation learning is a promising approach for training humanoid robots to both walk and manipulate, but it requires a large number of demonstrations, which are time-intensive and difficult to collect via teleoperation. Existing data-generation algorithms can automatically synthesize demonstrations for manipulators, but they are ineffective on humanoids because their high-dimensional composite action spaces involve arms, legs, and torsos. We present HumanoidMimicGen, a method for generating humanoid legged loco-manipulation data. Our method adapts contact-rich whole-body skills from a handful of source demonstrations to new states, generalizing across changes in object pose. By interleaving these single- and dual-arm skills with whole-body locomotion and manipulation planning, the method generates stable, collision-free data across diverse scenes and layouts. To evaluate our approach, we introduce a new simulated loco-manipulation benchmark containing nine diverse tasks that test humanoid loco-manipulation capabilities. There, we demonstrate that HumanoidMimicGen automatically generates large datasets for imitation learning and enables a systematic study of how data generation and policy learning decisions impact model performance. We show that whole-body visuomotor policies co-trained with data generated by HumanoidMimicGen outperform those trained only on real-world data by 20%.

NoFADE: Analyzing Diminishing Returns on CO2 Investment

Climate change continues to be a pressing issue that currently affects society at-large. It is important that we as a society, including the Computer Vision (CV) community take steps to limit our impact on the environment. In this paper, we (a) analyze the effect of diminishing returns on CV methods, and (b) propose a \textit{``NoFADE''}: a novel entropy-based metric to quantify model--dataset--complexity relationships. We show that some CV tasks are reaching saturation, while others are almost fully saturated. In this light, NoFADE allows the CV community to compare models and datasets on a similar basis, establishing an agnostic platform.