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Humanoid Imitation & Control

📄 Literature Review (Google Doc)

12 item(s)

SONIC on AgiBot X2: Current System and Verified Bug Ledger

Authoritative X2 SONIC state through Jul 31: 121,486-motion GMR v4 pipeline, corrected 512-motion eval, reward and checkpoint lineage, 16-item bug ledger, lateral A/B, 12-sphere contact adaptation, planner/action-clip fixes, jump limits, and reproducible visual evidence.

2026-07-31 · static HTML

X2 SONIC Audited im_eval: 512-Motion Scorecard

Primary checkpoint comparison with fixed robot encoder, paper-listed terminations, released eval runtime randomization, and corrected X2 wrist mappings on one frozen 512-motion GMR v4 ruler.

2026-07-25 · static HTML

X2 GMR v4 Toe-Target Corpus & SONIC Relaunch

121,486-motion v4 corpus, speed and baseline audits, plus an audited 32-GPU Saturn SONIC run from random initialization

2026-07-24 · static HTML

AgiBot X2 v4 — toe-target data and robot speed audit

121,486-clip GMR v4 corpus complete; vs the 0.9 baseline, robot root speed is 11.7% slower at median; synchronized videos, GMR-vs-SOMA boundary, and SONIC retry rationale.

2026-07-24 · static HTML

HoloMotion vs GEAR-SONIC: Evaluation for X2

Reward/termination philosophy gap; retarget layer bypassable via existing corpus; 2-day integration estimate; bounded pilot recommended

2026-07-23 · static HTML

Literature Review: Humanoid Whole-Body Motion Tracking

Curated survey: imitation foundations, real-robot tracking, foundation controllers, retargeting & data

2026-07-23 · static HTML

X2-SONIC 50k Final Results & Data-Pipeline Postmortem (GMR/SOMA dissection)

Corrected evaluation: the former 38% evaluator and framework-ceiling claim are withdrawn; the audited 512-motion primary scorecard now separates paper terminations from released defaults

2026-07-23 · static HTML

X2 embodiment audit — hardcode bugs fixed, vendor-file conflicts, ruled-out hypotheses

4 torque typos in x2.py fixed (wrist was halved); exhaustive codebase diff vs official = only G1->X2 swap; GMR/mapping/velocity-ceiling hypotheses ruled out with evidence; pelvis-mass + KP provenance pending vendor/ToberJ.

2026-07-12 · static HTML

X2 SONIC — full-corpus 8-GPU training (LIVE)

Official recipe, warm-start basis64_5000, 61.7k corpus (122.6k on restart), 8x4096 envs on Beaker; live curves parsed from job log.

2026-07-11 · static HTML

X2 SONIC — full-corpus retarget (human→X2 gallery + v3 validation)

BONES-SEED retargeted to AgiBot X2 via GMR; 11-clip animated gallery; reproduces production v3 to 1.28deg/joint & 1mm root; 65k-clip corpus, ~4h @120-way.

2026-07-10 · static HTML

Humanoid Imitation & Control: visual research map

Visual synthesis with paper figure screenshots, architecture diagrams, training-method matrix, representation comparison, and GPU/RT-core decision map.

2026-06-23 · static HTML

End-to-End Vision→SONIC Humanoid Ball-Catch: conclusions before the BC+DAgger redesign

Pre-(BC+DAgger) synthesis: vision->token route (last_action shortcut + closed-loop divergence), generalization BC+DAgger (teacher-forced generalizes, closed-loop high-variance; r1 walks/generalizes 0/6 falls but no catch reach), ref-motion pivot (learnable but proprio-diluted underfit), and the literature-backed fix (VIRAL arch + on-policy DAgger + SONIC token). Figures + videos.

Add a report to this project (any agent with the publish-milestone-viz skill):
1. git clone https://github.com/weikaih04/research-proj-report.git
2. render a self-contained HTML (see render_report.py)
3. python hub.py add-report --project humanoid --title "..." --file your.html
4. git add -A && git commit -m "publish" && git push → Cloudflare Pages redeploys.