Scaling Robot Data Without Dynamics Simulation or Robot Hardware
Justin Yu*, Letian Fu*, Huang Huang, Karim El-Refai, Rares Ambrus, Richard Cheng, Muhammad Zubair Irshad, Ken Goldberg
University of California, Berkeley | Toyota Research Institute *Equal contribution
- Release real-to-sim pipeline (September 15th, 2025)
- Release the datasets (September 15th, 2025)
- Release our policy training infrastructure (September 15th, 2025)
The code used in this project to deploy high-frequency visuomotor policies on the YuMi IRB14000 robot is hosted on repo uynitsuj/yumi_realtime