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add first 3 Digit demos
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@Cfather
Cfather committed Aug 16, 2024
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<h1 style="text-align: center; margin-bottom: 0; color: #8C1515; font-size: 300%">RAPTOR</h1>
<h2 style="text-align: center; white-space: nowrap; font-size: 200%">RAPid and robust Trajectory Optimization for Robots</h2>

<p style="color: black;">We present "RAPid and robust Trajectory Optimization toolbox for Robots" (RAPTOR) -- Dynamic locomotion for humanoid robots presents significant analytical and computational challenges due to the extensive number of linkages and degrees of freedom. This complexity results in a vast search space for feasible gaits which translates into a time-consuming process when optimizing over trajectories. In addition, the process often involves numerous hyperparameters and requires a good initial guess or a warm-start strategy, further complicating the development process. Existing methods struggle to integrate the latest hardware designs, such as actuated ankles with closed-loop mechanisms, which offer increased stability, but introduce additional constraints into the dynamics that can be challenging to represent in a computationally tractable fashion. This work introduces a generalized gait optimization framework that directly generates smooth and physically feasible trajectories. The proposed method demonstrates faster and more robust convergence than existing techniques and explicitly incorporates closed-loop constraints. The method is implemented as an open-source C++ codebase that significantly reduces computation times, facilitating dynamic locomotion for full-size humanoids.
</p>

<!-- TODO: fill in demos -->
<!-- <div class="box alt" style="margin-bottom: 1em;">
<hr>
<h3>Demos</h3>

<div class="box alt" style="margin-bottom: 1em;">
<div class="row 50% uniform" style="width: 100%; color: black;">
<div class="2u" style="font-size: 1em; line-height: 1.5em; text-align: center; width: 33.33%">
Human Demonstration with UMI
<div class="2u" style="font-size: 1em; line-height: 1.5em; text-align: left; width: 33.33%">
Digit walking forward with 0.0 m/s and 0.10 m step height
</div>

<div class="2u" style="font-size: 1em; line-height: 1.5em; text-align: center; width: 66.67%">
Fully Autonomous Policy Rollout
<div class="2u" style="font-size: 1em; line-height: 1.5em; text-align: left; width: 33.33%">
Digit walking forward with 0.5 m/s and 0.15 m step height
</div>

<div class="2u" style="font-size: 1em; line-height: 1.5em; text-align: left; width: 33.33%">
Digit walking forward with 1.0 m/s and 0.20 m step height
</div>
</div>
<div class="row 50% uniform" style="width: 100%;">
<div class="2u" style="font-size: 1em; line-height: 1.5em; text-align: center; width: 33.33%">
<span class="image fit">
<video autoplay loop muted playsinline style="width: 100%; margin-right: 5%;">
<source src="videos/teaser_data_collection_dish.mp4" type="video/mp4">
</video>
<img src="https://github.com/user-attachments/assets/0af9e990-eb12-4039-8e1e-b60148be0fe5" alt="">
</span>
</div>

<div class="2u" style="font-size: 1em; line-height: 1.5em; text-align: center; width: 33.33%">
<span class="image fit">
<video autoplay loop muted playsinline style="width: 100%; margin-right: 5%;">
<source src="videos/task_dish_washing_1x_compressed.mp4" type="video/mp4">
</video>
<div style="position: absolute; top: 2%; right: 1%">
<p style="color: white; text-align: center; font-size: 2em">1x</p>
</div>
<img src="https://github.com/user-attachments/assets/37d2aead-8387-4f0c-9b87-99bebc5397ba" alt="">
</span>
</div>

<div class="2u" style="font-size: 1em; line-height: 1.5em; text-align: center; width: 33.33%">
<span class="image fit">
<video autoplay loop muted playsinline style="width: 100%; margin-right: 5%;">
<source src="videos/task_cloth_folding_1x_compressed.mp4" type="video/mp4">
</video>
<div style="position: absolute; top: 2%; right: 1%">
<p style="color: white; text-align: center; font-size: 2em">1x</p>
</div>
<img src="https://github.com/user-attachments/assets/a6a4aea3-f5da-402b-b52f-cb69eca163b0" alt="">
</span>
</div>
</div>
<div class="row 50% uniform" style="width: 100%">
<!-- <div class="row 50% uniform" style="width: 100%">
<div class="2u" style="font-size: 1em; line-height: 1.5em; text-align: center; width: 33.33%">
<span class="image fit">
<video autoplay loop muted playsinline style="width: 100%; margin-right: 5%;">
Expand Down Expand Up @@ -121,12 +119,8 @@ <h2 style="text-align: center; white-space: nowrap; font-size: 200%">RAPid and r
</div>
</span>
</div>
</div>
</div> -->


<p style="color: black;">We present "RAPid and robust Trajectory Optimization toolbox for Robots" (RAPTOR) -- Dynamic locomotion for humanoid robots presents significant analytical and computational challenges due to the extensive number of linkages and degrees of freedom. This complexity results in a vast search space for feasible gaits which translates into a time-consuming process when optimizing over trajectories. In addition, the process often involves numerous hyperparameters and requires a good initial guess or a warm-start strategy, further complicating the development process. Existing methods struggle to integrate the latest hardware designs, such as actuated ankles with closed-loop mechanisms, which offer increased stability, but introduce additional constraints into the dynamics that can be challenging to represent in a computationally tractable fashion. This work introduces a generalized gait optimization framework that directly generates smooth and physically feasible trajectories. The proposed method demonstrates faster and more robust convergence than existing techniques and explicitly incorporates closed-loop constraints. The method is implemented as an open-source C++ codebase that significantly reduces computation times, facilitating dynamic locomotion for full-size humanoids.
</p>
</div> -->
</div>

<hr>
<h3>Paper</h3>
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