https://peertube.laas.fr/videos/watch/a1a4cc81-28c8-4d1c-a65f-632afd2bf5d2 H1v2 is teleoperated using two 6D markers measured by the motion capture system. The upper body is driven by an IK implemented with pinocchio which takes into account singularities with damping, there is collision detection, limits detection. The lower body is using a CaT RL policy to make the robot being still. Thu, 14 May 2026 07:36:43 GMT https://validator.w3.org/feed/docs/rss2.html PeerTube - https://peertube.laas.fr https://peertube.laas.fr/lazy-static/avatars/1921a1bb-9efc-4677-ac93-a455a5a2e107.png https://peertube.laas.fr/videos/watch/a1a4cc81-28c8-4d1c-a65f-632afd2bf5d2 All rights reserved, unless otherwise specified in the terms specified at https://peertube.laas.fr/about and potential licenses granted by each content's rightholder.