Training Robots with Pi0, Lerobot, and Rerun: A Human Pose Motion Retargeting Approach

This project explores training robots using Pi0, Lerobot, and Rerun. It supports Linux and utilizes the Pixi package manager. The project involves camera calibration, human pose and kinematics analysis, and extracting 3D joint positions and angles from multi-view images. The ultimate goal is to convert time-synced multi-camera footage into axis-angle joint parameters and 3D positions usable by robots for motion retargeting and learning fine motor skills. Jupyter Notebook tutorials are provided, covering human pose and kinematics, body and hand pose retargeting, and imitation learning and teleoperation.