Let's Dance!

Has this ever happened to you: You just spent €50,000 on a humanoid robot, but it’s not very fun at parties, so you have to train it to dance using reinforcement learning in a simulation environment on your €100,000 GPU cluster? What do you mean “NO”?
In this talk, we will teach you how you can train your humanoid robot to dance using reinforcement learning in simulation environments. We’re gonna kick things off with an introduction into Reinforcement Learning (RL), covering the basics of policies and rewards. After that, we’ll take our first steps in simulation environments with the introduction of NVIDIA Isaac Sim and the Unitree RL Lab. We will run through the steps of shaping a walking policy, one hilarious fall at a time. Finally, we’re going to shake things up with a dancing policy: You will learn how you can retarget human motion from videos to the Unitree G1 robot and train an imitation policy that can dance just as poorly as you.
For the grande finale, our humanoid robot will close the session with a dancing performance, not missing out on a single step.