Series

Grail Humanoid Data Pipeline

The "Grail Humanoid Data Pipeline" series has 6 parts — read them in order from part 1.

grailhumanoidloco-manipulationPart 1

Dissect GRAIL's two asset paths: procedural terrain and Hunyuan3D text-to-mesh for loco-manipulation.

6/7/202614 min read

grailhumanoidloco-manipulationPart 2

Run gen_2dhoi for cordless_drill: Bullet settling, scale/prompt refinement, scene rendering, and Kling videos.

6/7/202615 min read

grailhumanoidloco-manipulationPart 3

A beginner guide to recon_4dhoi: human pose, masks/depth, FoundationPose, HOIOptimizer, filtering, and visualization.

6/7/202616 min read

grailhumanoidloco-manipulationPart 4

Compare GRAIL manipulation reconstruction with static-object mode for stairs, slopes, curbs, and sitting.

6/7/202615 min read

grailhumanoidunitree-g1Part 5

Trace GRAIL retargeting: SMPL-X to G1, hand actions, table geometry, lift thresholds, and BPS embeddings.

6/7/202614 min read

grailsonichumanoidPart 6

Train SONIC task-general trackers, map paper metrics to code paths, and export successful GRAIL rollouts.

6/7/202614 min read