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<!DOCTYPE html>
<html>
<head>
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<script>
window.dataLayer = window.dataLayer || [];
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gtag('js', new Date());
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<meta charset="utf-8">
<meta name="description"
content="SDS: See it. Do it. Sorted Quadruped Skill Synthesis from Single Video Demonstration.">
<meta name="keywords" content="Skill Imitation, VLMs, Quadrupedal Robots">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>SDS: Quadruped Skill Synthesis from Single Video Demonstration</title>
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<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/5.15.4/css/all.min.css">
</head>
<body>
<section class="hero">
<div class="hero-body">
<div class="container">
<img src="./resources/ucl.png" width="150"></img>
<img src="./resources/rpl-logo.png" width="100"></img>
<div class="columns is-centered">
<div class="column has-text-centered">
<h1 class="title is-1 publication-subtitle">SDS : See it. Do it. Sorted</h1>
<h2>Quadruped Skill Synthesis from Single Video Demonstration</h2>
<br>
<div class="is-size-4 publication-authors">
<span class="author-block">
<a href="https://rpl-as-ucl.github.io/people/">Jeffrey
Li*</a>
<a href="https://rpl-as-ucl.github.io/people/">Maria
Stamatopoulou*</a>
<a href="https://dkanou.github.io/">Dimitrios Kanoulas</a>
<br> <br>
<p>
Robot Perception Lab (<a href="https://rpl-as-ucl.github.io">RPL</a>), Computer Science @ UCL.
</p>
<!-- <span class="brmod"><b>ICRA 2025 Submission</b></span> -->
<br>
</span>
</div>
<div class="column has-text-centered">
<!-- arXiv Link. -->
<span class="link-block">
<a href="https://arxiv.org/abs/2410.11571" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>Paper</span>
</a>
</span>
<!-- Code Link. -->
<span class="link-block">
<a href="https://github.com/RPL-CS-UCL/SDS" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>Code</span>
</a>
</span>
<!-- Video Link. -->
<span class="link-block">
<a href="https://youtu.be/_it1WIhjLtA?si=oWAm2-XTzhAvEWtn" class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-youtube"></i>
</span>
<span>Video</span>
</a>
</span>
</div>
<section class="section">
<div class="container">
<img src="./resources/figures/method.png" width="900"></img>
<br>
<br>
<!-- Abstract. -->
<div class="columns is-centered has-text-centered">
<div class="column is-two-thirds">
<h3 class="title is-2">Abstract</h3>
<div class="content has-text-justified">
<p>
We present SDS (``See it. Do it. Sorted.''), a novel pipeline for intuitive quadrupedal skill learning
from a single demonstration video. Leveraging the Visual capabilities of GPT-4o, SDS processes input
videos through our novel chain-of-thought promoting technique (SUS) and generates executable reward
functions (RFs) that drive the imitation of locomotion skills, through learning a Proximal Policy Optimization
(PPO)-based Reinforcement Learning (RL) policy, using environment information from the NVIDIA IsaacGym simulator.
SDS autonomously evaluates the RFs by monitoring the individual reward components and supplying training footage
and fitness metrics back into GPT-4o, which is then prompted to evolve the RFs to achieve higher task fitness at
each iteration. We validate our method on the Unitree Go1 robot, demonstrating its ability to execute variable
skills such as trotting, bounding, pacing and hopping, achieving high imitation fidelity and locomotion stability.
SDS shows improvements over SOTA methods in task adaptability, reduced dependence on domain-specific knowledge, and
bypassing the need for labor-intensive reward engineering and large-scale training datasets.
</p>
<br></br>
</div>
<div class="is-centered">
<!--<center>
<video autoplay muted loop playsinline controls poster="./resources/loading-icon.gif" style="width: 95%; border: 1px solid #bbb; border-radius: 10px; margin: 2.0%;">
<source src="./resources/real_world/map2spot.mp4" type="video/mov">
</video>
</center>-->
</div>
</div>
</div>
</div>
<section class="section">
<div class="container">
<div class="columns is-centered">
<div class="column is-full-width">
<br>
<h2 class="title is-2" style="text-align: center; padding-bottom: 10px;">SDS Simulation
Performance</h2>
<br>
<h5>
<center>
We run the best PPO policies in the IsaacGym environment using a simulated Go1 Unitree Robot.
</center>
</h5>
<br>
<style>
.center-content {
display: flex;
justify-content: center;
align-items: center;
flex-direction: column;
text-align: center;
}
.video-wrapper {
display: flex;
justify-content: center;
align-items: center;
margin-bottom: 20px;
/* Adds space between the videos */
}
.video-wrapper video {
width: 80%;
/* Ensures consistent width for both columns */
height: 300px;
/* Set equal height for all videos */
}
.video-wrapper.simulation video {
width: 100%;
/* Adjusts the width for SDS Simulation videos */
height: 300px;
/* Set equal height for all videos */
}
.table-wrapper {
display: flex;
justify-content: center;
/* Centers the entire table */
margin: 0 auto;
/* Ensures the table is centered on the page */
}
table {
width: 80%;
/* Adjust width as necessary */
}
.row-title {
text-align: center;
font-weight: bold;
font-size: 16px;
margin-bottom: 10px;
}
</style>
<div class="table-wrapper">
<table>
<!-- Row 1: Title -->
<tr>
<td colspan="2">
<div class="row-title 10px"> 1. Trotting</div>
</td>
</tr>
<tr>
<!-- Column 1: Demonstration Video -->
<td>
<div class="center-content">
<div class="video-wrapper">
<video autoplay muted loop playsinline controls src="./resources/demo/trot.mp4"
style="border-radius:10px;"></video>
</div>
</div>
</td>
<!-- Column 2: SDS Simulation Video -->
<td>
<div class="center-content">
<div class="video-wrapper simulation">
<video id="sim-trot" autoplay muted loop playsinline controls
src="./resources/simualtion/trot.mp4" style="border-radius:10px;"></video>
</div>
</div>
</td>
</tr>
<!-- Row 2: Title -->
<tr>
<td colspan="2">
<div class="row-title">2. Bounding</div>
</td>
</tr>
<tr>
<!-- Column 1: Demonstration Video -->
<td>
<div class="center-content">
<div class="video-wrapper">
<video autoplay muted loop playsinline controls src="./resources/demo/running.mp4"
style="border-radius:10px;"></video>
</div>
</div>
</td>
<!-- Column 2: SDS Simulation Video -->
<td>
<div class="center-content">
<div class="video-wrapper simulation">
<video autoplay muted loop playsinline controls src="./resources/simualtion/bound.mp4"
style="border-radius:10px;"></video>
</div>
</div>
</td>
</tr>
<!-- Row 3: Title -->
<tr>
<td colspan="2">
<div class="row-title">3. Hopping</div>
</td>
</tr>
<tr>
<!-- Column 1: Demonstration Video -->
<td>
<div class="center-content">
<div class="video-wrapper">
<video autoplay muted loop playsinline controls src="./resources/demo/hop.mp4"
style="border-radius:10px;"></video>
</div>
</div>
</td>
<!-- Column 2: SDS Simulation Video -->
<td>
<div class="center-content">
<div class="video-wrapper simulation">
<video autoplay muted loop playsinline controls src="./resources/simualtion/hop.mp4"
style="border-radius:10px;"></video>
</div>
</div>
</td>
</tr>
<!-- Row 4: Title -->
<tr>
<td colspan="2">
<div class="row-title">4. Pacing</div>
</td>
</tr>
<tr>
<!-- Column 1: Demonstration Video -->
<td>
<div class="center-content">
<div class="video-wrapper">
<video autoplay muted loop playsinline controls src="./resources/demo/pace.mp4"
style="border-radius:10px;"></video>
</div>
</div>
</td>
<!-- Column 2: SDS Simulation Video -->
<td>
<div class="center-content">
<div class="video-wrapper simulation">
<video id="sim-pace" autoplay muted loop playsinline controls
src="./resources/simualtion/pace.mp4" style="border-radius:10px;"></video>
</div>
</div>
</td>
</tr>
</table>
</div>
</div>
</div>
</div>
</section>
<script>
// Slowing down the videos using JavaScript
document.getElementById('sim-pace').playbackRate = 0.5; // Half speed (50% slower)
document.getElementById('sim-trot').playbackRate = 0.5; // 75% speed (25% slower)
</script>
<section class="section">
<div class="container">
<div class="columns is-centered">
<div class="column is-full-width">
<br>
<h2 class="title is-2" style="text-align: center; padding-bottom: 10px;">Real World Deployment</h2>
<h5 style="text-align: center;">
We deploy all policies on the on-board computer of a Unitree Go1 robot, using a Docker architecture. We apply base tracking to verify the stability of the locmotion policies.
</h5>
<br>
<!-- Row 1: Trotting -->
<div class="center-content">
<h5 style="text-align: center;">1. Trotting</h5>
<div class="video-wrapper" style="text-align: center;">
<video id="real-trot" autoplay muted loop playsinline controls src="./resources/real_world/trot_c.m4v" width="100%" style="border-radius:10px;"></video>
</div>
</div>
<br>
<!-- Row 2: Bounding -->
<div class="center-content">
<h5 style="text-align: center;">2. Bounding</h5>
<div class="video-wrapper" style="text-align: center;">
<video autoplay muted loop playsinline controls src="./resources/real_world/bound_c.m4v" width="100%" style="border-radius:10px;"></video>
</div>
</div>
<br>
<!-- Row 3: Add more videos if needed -->
<!-- Row 2: Bounding -->
<div class="center-content">
<h5 style="text-align: center;">3. Hopping</h5>
<div class="video-wrapper" style="text-align: center;">
<video id="real-hop" autoplay muted loop playsinline controls src="./resources/real_world/hop_c.m4v" width="100%" style="border-radius:10px;"></video>
</div>
</div>
<br>
<!-- Row 3: Add more videos if needed -->
<!-- Row 2: Bounding -->
<div class="center-content">
<h5 style="text-align: center;">4. Pacing</h5>
<div class="video-wrapper" style="text-align: center;">
<video id="real-pace" autoplay muted loop playsinline controls src="./resources/real_world/pace_c.m4v" width="100%" style="border-radius:10px;"></video>
</div>
</div>
<script>
// Slowing down the videos using JavaScript
document.getElementById('real-pace').playbackRate = 0.5; // Half speed (50% slower)
document.getElementById('real-trot').playbackRate = 0.5; // 75% speed (25% slower)
document.getElementById('real-hop').playbackRate = 0.75;
</script>
</div>
</div>
</div>
</section>
<section class="section" id="BibTeX">
<div class="container content">
<div align="left" ;>
<h2 class="titile">BibTeX</h2>
<pre><code>
@article{Li2024SDS,
title = {SDS - See it. Do it. Sorted: Quadruped Skill Synthesis from Single Video Demonstration},
author = {Jeffrey Li, Maria Stamatopoulou, Dimitrios Kanoulas},
journal = {arXiv preprint arXiv:2410.11571},
year = {2024}
}
</div>
</code></pre>
</div>
</section>
</body>
</html>