This work would not have been possible without the invaluable contributions from everyone listed here.
Algorithm and Implementation
- Core Algorithm Design and Formulation of SEW-MIMIC
- Simulation and Control of All Supported Robots
- MediaPipe Pose Detection Integration
- Meta Quest Pose Detection and WebRTC Communication in Unity
- Rust Implementation of SEW-MIMIC
- Project Website Development
- Benchmarking Comparison with unitree/xr-teleoperate
- Safety-Filter for SEW-MIMIC
- SEW Imitation Learning Policy
Experiment and User Study
- All Simulations Envs for User Study in MuJoCo
- User Study Design and Data Collection
- Minkik and OSC Teleoperation Integration for Comparison
- HD video Live Streaming for Meta Quest Teleoperation in Unity
- Binocular Depth Vision in Mujoco Simulated Envs for User Study
- Singularity Analysis for G1 Robot Demo
Hardware Demo
- Rainbow RB-Y1 Robot Control for SEW-MIMIC Hardware Demo
- Xhand Control for SEW-MIMIC Hardware Demo
- Aria Glass Streaming Support for Teleoperation
- Psyonic Ability Hand Control for SEW-MIMIC Hardware Demo
