Event

CoCarry releases dual-humanoid collaborative carrying dataset and retargeting method

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Ziyu Lin and other authors released the CoCarry dataset and a contact-support structured retargeting method, aimed at dual-humanoid collaborative carrying. The dataset contains 21 task plans, 5 shared object geometries, and 4 terrains, totaling 220 synchronized dual-human sequences, with about 61 minutes of motion data. The authors state that all 220 sequences have been retargeted to two A3 humanoid robots; when using the Unitree G1 humanoid robot on CORE4D data, the contact preservation rate was 0.9906, and measured sliding was zero. The authors also state that the generated reference motions have been validated through physics simulation and multiple real collaborative carrying experiments with two physical A3 humanoid robots.