Learning from Massive Human Videos for Universal Humanoid Pose Control
Authors: name: Jiageng Mao, name: Siheng Zhao, name: Siqi Song, name: Tianheng Shi, name: Junjie Ye, name: Mingtong Zhang, name: Haoran Geng, name: Jitendra Malik, name: Vitor Guizilini, name: Yue Wang

Scalable learning of humanoid robots is crucial for their deployment in
real-world applications. While traditional approaches primarily rely on
reinforcement learning or teleoperation to achieve whole-body control, they are
often limited by the diversity of simulated environments and the high costs of
demonstration collection. In contrast, human videos are ubiquitous and present
an untapped source of semantic and motion information that could significantly
enhance the generalization capabilities of humanoid robots. This paper
introduces Humanoid-X, a large-scale dataset of over 20 million humanoid robot
poses with corresponding text-based motion descriptions, designed to leverage
this abundant data. Humanoid-X is curated through a comprehensive pipeline:
data mining from the Internet, video caption generation, motion retargeting of
humans to humanoid robots, and policy learning for real-world deployment. With
Humanoid-X, we further train a large humanoid model, UH-1, which takes text
instructions as input and outputs corresponding actions to control a humanoid
robot. Extensive simulated and real-world experiments validate that our
scalable training approach leads to superior generalization in text-based
humanoid control, marking a significant step toward adaptable, real-world-ready
humanoid robots.