Toru
@ToruO_O
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理一@東大(UTokyo) → EECS@MIT → CS PhD student @berkeley_ai / Researcher @NVIDIA 🌈 she/her/hers I like capybaras :D
Joined October 2020
Achieving bimanual dexterity with RL + Sim2Real! TLDR - We train two robot hands to twist bottle lids using deep RL followed by sim-to-real. A single policy trained with simple simulated bottles can generalize to drastically different real-world objects.
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When @zhaohengyin first told me about this idea, I wasn't impressed. "How far can you get with teleoperation for hands?" I asked. Turns out, quite far :) really excited to see the unprecedented dexterity unleased by human motion prompt + sim-to-real, and look forward to more!!!
We introduce Dexterity Gen (DexGen), a foundation controller that enables unprecedented dexterous manipulation capabilities. For the first time, it allows human teleoperation of tasks such as using a pen, screwdriver, and syringe. Developed by @berkeley_AI and @MetaAI. A Thread.
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A great pleasure working with @JitendraMalikCV on the course! I'm always inspired by Jitendra's genuine passion for staying at the cutting edge of developments, and the abilities to new learn things so fast!! Highly recommend this unique and fun robotics course to everyone!!!
I'm happy to post course materials for my class at UC Berkeley "Robots that Learn", taught with the outstanding assistance of @ToruO_O. Lecture videos at Lecture notes & other course materials at
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@mattdeitke @inkynumbers @ehsanik @LucaWeihs @anikembhavi Congrats & best of luck Matt!! knew you would do great things :)))
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🤖$200,000 ROBOTICS CHALLENGE @ ICRA 2025💸
Is teleoperation + BC our ultimate path to productizing Robot Learning? Well ... Talk is cheap, show me your data & policy! We are thrilled to organize a teleoperation and imitation learning challenge at #ICRA2025, with a total prize pool of $200,000 (cash + robots)! General info session: Jan 10th. Competition registration deadline: Jan 17th Visit for more information
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Introducing HOVER, a versatile humanoid whole-body controller that unifies diverse control modes into a generalist policy while preserving advantages of specialists. Check our website for more details and ~beautiful~ demos, as well as previous works by @TairanHe99 and team!!!
🤖 Humanoids are expected to be the ultimate embodiment for general-purpose robots, but reaching that potential means adapting to diverse tasks—navigation, tabletop manipulation, loco-manipulation—each needing unique control modes. 🤔 Can one controller handle it all? ✨ Introducing HOVER: 🧩 Unified Command Space: Supports kinematic position, joint angle, and root tracking in a unified versatile policy. 💪 Generalist Controller: HOVER outperforms previous specialized policies trained on specific modes (ExBody, H2O, OmniH2O, HumanPlus). 🌐 Website:
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@BoyuanChen0 Thank you Boyuan!!! Totally agree and glad to see that awesome people like @BoyuanChen0 are working on this problem too 🤜🏻🤛🏻
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@YuZhang @PSYONICinc @hellorokoko @kenny__shaw And shout-out to Franklin @YuZhang, an amazing undergraduate student who has contributed a lot to setting up these teleoperation systems despite having no prior experience at all! Franklin is applying to PhD programs this year, and I would not hesitate to recommend :)
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