It is no secret that robots are becoming more agile. They can run and do all kinds of challenging poses. with ASAP, it is now possible to teach humanoid robots agile whole-body skills. Thanks to this approach, it is possible for a humanoid robot to perform moves by LeBron James and Cristiano Ronaldo. ASAP is a two stage framework that involves pre-training motion tracking policies in simulation using retargeted human motion data.
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The 2nd stage involves collecting real-time world data to train a delta action model. ASAP fine-tunes pretrained policies with the delta action model. For testing this, a Unitree G1 humanoid robot was used.
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