{"id":107493,"date":"2025-01-15T18:31:22","date_gmt":"2025-01-15T18:31:22","guid":{"rendered":"https:\/\/www.seeedstudio.com\/blog\/?p=107493"},"modified":"2025-01-16T02:44:34","modified_gmt":"2025-01-16T02:44:34","slug":"armor-egocentric-perception-for-humanoid-robot-powered-by-xiao-esp32s3","status":"publish","type":"post","link":"https:\/\/www.seeedstudio.com\/blog\/2025\/01\/15\/armor-egocentric-perception-for-humanoid-robot-powered-by-xiao-esp32s3\/","title":{"rendered":"ARMOR: Egocentric Perception for Humanoid Robot Powered by XIAO ESP32S3"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"107493\" class=\"elementor elementor-107493\" data-elementor-post-type=\"post\">\n\t\t\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-1f5983fe elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"1f5983fe\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-412807db\" data-id=\"412807db\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-130d90c8 elementor-widget elementor-widget-text-editor\" data-id=\"130d90c8\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad6ff07\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t\t\t<p><a href=\"https:\/\/www.linkedin.com\/in\/daehwa-kim-790a02147\/\"><span style=\"font-weight: 400;\">Daehwa Kim<\/span><\/a><span style=\"font-weight: 400;\"> (Carnegie Mellon University), <\/span><a href=\"https:\/\/www.linkedin.com\/in\/mariojohnsrouji\/\"><span style=\"font-weight: 400;\">Mario Srouji<\/span><\/a><span style=\"font-weight: 400;\">, <\/span><a href=\"https:\/\/www.linkedin.com\/in\/chen90\/\"><span style=\"font-weight: 400;\">Chen Chen<\/span><\/a><span style=\"font-weight: 400;\">, and <\/span><a href=\"https:\/\/www.linkedin.com\/in\/jianzhangpurdue\/\"><span style=\"font-weight: 400;\">Jian Zhang<\/span><\/a><span style=\"font-weight: 400;\"> (Apple) have developed <\/span><a href=\"https:\/\/daehwakim.com\/armor\/\"><b>ARMOR<\/b><\/a><span style=\"font-weight: 400;\">, an innovative egocentric perception hardware and software system for humanoid robots. By combining Seeed Studio <\/span><a href=\"https:\/\/www.seeedstudio.com\/XIAO-ESP32S3-p-5627.html?utm_source=Seeedblog\"><span style=\"font-weight: 400;\">XIAO ESP32S3<\/span><\/a><span style=\"font-weight: 400;\">-based wearable depth sensor networks and transformer-based policies, ARMOR tackles the challenges of collision avoidance and motion planning in dense environments. This system enhances spatial awareness and enables nimble and safe motion planning, outperforming traditional perception setups. ARMOR was deployed on the <\/span><a href=\"https:\/\/www.fftai.com\/products-gr1\"><span style=\"font-weight: 400;\">GR1 humanoid robot from Fourier Intelligence<\/span><\/a><span style=\"font-weight: 400;\">, showcasing its real-world applications.<\/span><\/p>\n<p><!-- \/wp:paragraph --><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-5522d17d elementor-widget__width-initial elementor-widget elementor-widget-image\" data-id=\"5522d17d\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad71be2\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img fetchpriority=\"high\" decoding=\"async\" width=\"2309\" height=\"799\" src=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/IMG_9998.png\" class=\"attachment-full size-full wp-image-107495\" alt=\"ARMOR image\" srcset=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/IMG_9998.png 2309w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/IMG_9998-300x104.png 300w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/IMG_9998-1030x356.png 1030w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/IMG_9998-768x266.png 768w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/IMG_9998-1536x532.png 1536w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/IMG_9998-2048x709.png 2048w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/IMG_9998-32x11.png 32w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/IMG_9998-1024x354.png 1024w\" sizes=\"(max-width: 2309px) 100vw, 2309px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">[Source: Daehwa Kim]<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-2a0211b4 elementor-widget elementor-widget-spacer\" data-id=\"2a0211b4\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad7228f\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-3a7c79ca elementor-widget elementor-widget-heading\" data-id=\"3a7c79ca\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad72d3b\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span><h3 class=\"elementor-heading-title elementor-size-default\">Hardwares Used<\/h3>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-32de28a5 elementor-widget elementor-widget-text-editor\" data-id=\"32de28a5\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad73475\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t\t\t<p><span style=\"font-weight: 400;\">ARMOR uses the following hardware components:<\/span><\/p><ul><li style=\"list-style-type: none;\"><ul><li style=\"font-weight: 400;\" aria-level=\"1\"><a href=\"https:\/\/www.seeedstudio.com\/XIAO-ESP32S3-p-5627.html?utm_source=Seeedblog\"><b>XIAO ESP32S3<\/b><\/a><b> microcontrollers<\/b><span style=\"font-weight: 400;\">: Efficiently collect sensor data and stream it to the robot&#8217;s onboard computer via I2C.<\/span><\/li><li style=\"font-weight: 400;\" aria-level=\"1\"><b>Onboard Computer<\/b><span style=\"font-weight: 400;\">: <\/span><a href=\"https:\/\/www.nvidia.com\/en-us\/autonomous-machines\/embedded-systems\/jetson-xavier-nx\/\"><span style=\"font-weight: 400;\">NVIDIA Jetson Xavier NX<\/span><\/a><span style=\"font-weight: 400;\"> processes sensor inputs.\u00a0<\/span><\/li><li style=\"font-weight: 400;\" aria-level=\"1\"><b>GPU (<\/b><a href=\"https:\/\/www.nvidia.com\/en-us\/geforce\/graphics-cards\/40-series\/rtx-4090\/\"><b>NVIDIA GeForce RTX 4090<\/b><\/a><b>)<\/b><span style=\"font-weight: 400;\">: Handles ARMOR-Policy\u2019s inference-time optimization for motion planning.<\/span><\/li><li style=\"font-weight: 400;\" aria-level=\"1\"><a href=\"https:\/\/www.sparkfun.com\/products\/19013\"><b>SparkFun VL53L5CX<\/b><\/a><b> Time-of-Flight (ToF) lidar sensors<\/b><span style=\"font-weight: 400;\">: Distributed across the robot\u2019s body for comprehensive point cloud perception.<\/span><\/li><\/ul><\/li><\/ul>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-768ca12f elementor-widget elementor-widget-spacer\" data-id=\"768ca12f\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad73a85\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-4acb43ab elementor-widget elementor-widget-heading\" data-id=\"4acb43ab\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad740cf\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span><h3 class=\"elementor-heading-title elementor-size-default\">How the ARMOR Works\n<\/h3>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-30e08cf4 elementor-widget elementor-widget-text-editor\" data-id=\"30e08cf4\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad74748\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t\t\t<p><span style=\"font-weight: 400;\">The hardware solution of ARMOR\u2019s egocentric perception system uses distributed ToF lidar sensor networks. Groups of four ToF sensors are connected to Seeed Studio XIAO ESP32S3 microcontrollers, capturing high-precision depth information from the environment. The XIAO ESP32S3 serves as a crucial intermediary controller, efficiently managing real-time sensor data transmission. It streams the collected depth data via USB to the robot&#8217;s onboard computer, the NVIDIA Jetson Xavier NX, which then wirelessly transmits the data to a powerful Linux machine equipped with an NVIDIA GeForce RTX 4090 GPU for data processing. This sophisticated data pipeline enables the creation of an occlusion-free point cloud around the humanoid robot, providing essential environmental awareness data for the ARMOR neural motion planning algorithm. The distributed and light-weight hardware setup also ensures enhanced spatial awareness and overcomes the limitations of head-mounted or external cameras, which often fail in cluttered or occluded environments.<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-1407bc3 elementor-widget elementor-widget-video\" data-id=\"1407bc3\" data-element_type=\"widget\" data-settings=\"{&quot;video_type&quot;:&quot;hosted&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad7546b\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t<div class=\"e-hosted-video elementor-wrapper elementor-open-inline\">\n\t\t\t\t\t<video class=\"elementor-video\" src=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/hw3.mp4\" controls=\"\" preload=\"metadata\" controlsList=\"nodownload\"><\/video>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-543773a5 elementor-widget elementor-widget-text-editor\" data-id=\"543773a5\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad75b60\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t\t\t<p style=\"text-align: center;\">[<a href=\"https:\/\/daehwakim.com\/armor\/\">Source: Daehwa Kim<\/a>]<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-09f0f2c elementor-widget elementor-widget-text-editor\" data-id=\"09f0f2c\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad761d7\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t\t\t<p><span style=\"font-weight: 400;\">Daehwa Kim, one of the core developers of this project, mentions why they selected the Seeed Studio XIAO for this project.<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-7913aed elementor-widget elementor-widget-testimonial\" data-id=\"7913aed\" data-element_type=\"widget\" data-widget_type=\"testimonial.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad771cb\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t<div class=\"elementor-testimonial-wrapper\">\n\t\t\t\t\t\t\t<div class=\"elementor-testimonial-content\">\u201cWe might imagine a future where users easily plug and play with wearable sensors for humanoids and augment robots' perceptions in various tasks. XIAO ESP32 series makes the wearable sensor system easily modularizable. We specifically adopted the XIAO ESP32S3 in ARMOR because of its powerful computing and tiny form factor.\u201d<\/div>\n\t\t\t\n\t\t\t\t\t\t<div class=\"elementor-testimonial-meta elementor-has-image elementor-testimonial-image-position-aside\">\n\t\t\t\t<div class=\"elementor-testimonial-meta-inner\">\n\t\t\t\t\t\t\t\t\t\t\t<div class=\"elementor-testimonial-image\">\n\t\t\t\t\t\t\t<a href=\"https:\/\/www.linkedin.com\/in\/daehwa-kim-790a02147\/\"><img decoding=\"async\" src=\"https:\/\/media.licdn.com\/dms\/image\/v2\/C5603AQGTjftGmoYrGw\/profile-displayphoto-shrink_400_400\/profile-displayphoto-shrink_400_400\/0\/1631665286231?e=1742428800&#038;v=beta&#038;t=NXxDiuc2YcLvXlJdq36mRgJzNanRRihy-hrGOj0gNPs\" title=\"\" alt=\"\" loading=\"lazy\" \/><\/a>\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t<div class=\"elementor-testimonial-details\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<a class=\"elementor-testimonial-name\" href=\"https:\/\/www.linkedin.com\/in\/daehwa-kim-790a02147\/\">Daehwa Kim<\/a>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<a class=\"elementor-testimonial-job\" href=\"https:\/\/www.linkedin.com\/in\/daehwa-kim-790a02147\/\">Developer of ARMOR<\/a>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-543cd4c elementor-widget elementor-widget-spacer\" data-id=\"543cd4c\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad777d1\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-aca417c elementor-widget elementor-widget-image\" data-id=\"aca417c\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad78c10\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img decoding=\"async\" width=\"1660\" height=\"898\" src=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/armor-policy.jpg\" class=\"attachment-full size-full wp-image-107497\" alt=\"\" srcset=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/armor-policy.jpg 1660w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/armor-policy-300x162.jpg 300w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/armor-policy-1030x557.jpg 1030w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/armor-policy-768x415.jpg 768w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/armor-policy-1536x831.jpg 1536w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/armor-policy-32x17.jpg 32w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/armor-policy-1024x554.jpg 1024w\" sizes=\"(max-width: 1660px) 100vw, 1660px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">Armor Policy - Transformer-based policy [Source: Daehwa Kim]<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-5579654 elementor-widget elementor-widget-text-editor\" data-id=\"5579654\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad7934d\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t\t\t<p><span style=\"font-weight: 400;\">The neural motion planning system, <\/span><b>ARMOR-Policy<\/b><span style=\"font-weight: 400;\">, is built on a transformer-based architecture called the Action Chunking Transformer. This policy was trained on 86 hours of human motion data from the AMASS dataset using imitation learning. ARMOR-Policy processes the robot&#8217;s current state, goal positions, and sensor inputs to predict safe and efficient trajectories in real-time. The system leverages latent variables to explore multiple trajectory solutions during inference, ensuring flexibility and robustness.<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-f8ac8d3 elementor-widget elementor-widget-image\" data-id=\"f8ac8d3\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad7a9a3\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t\t\t\t\t\t<figure class=\"wp-caption\">\n\t\t\t\t\t\t\t\t\t\t<img decoding=\"async\" width=\"1122\" height=\"543\" src=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/Screenshot-2024-12-26-204904.png\" class=\"attachment-full size-full wp-image-107498\" alt=\"\" srcset=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/Screenshot-2024-12-26-204904.png 1122w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/Screenshot-2024-12-26-204904-300x145.png 300w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/Screenshot-2024-12-26-204904-1030x498.png 1030w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/Screenshot-2024-12-26-204904-768x372.png 768w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/Screenshot-2024-12-26-204904-32x15.png 32w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/Screenshot-2024-12-26-204904-1024x496.png 1024w\" sizes=\"(max-width: 1122px) 100vw, 1122px\" \/>\t\t\t\t\t\t\t\t\t\t\t<figcaption class=\"widget-image-caption wp-caption-text\">Trained on 86 hours of human motion dataset [Source: Daehwa Kim]<\/figcaption>\n\t\t\t\t\t\t\t\t\t\t<\/figure>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-ebe8f76 elementor-widget elementor-widget-text-editor\" data-id=\"ebe8f76\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad7b1ac\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t\t\t<p><span style=\"font-weight: 400;\">ARMOR was rigorously tested in both simulated and real-world scenarios. It demonstrated remarkable improvements in performance, reducing collisions by 63.7% and increasing success rates by 78.7% compared to exocentric systems with dense head-mounted cameras. Additionally, the transformer-based ARMOR-Policy reduced computational latency by 26\u00d7 compared to sampling-based motion planners like cuRobo, enabling efficient and nimble collision avoidance.<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t<div class=\"elementor-element elementor-element-7569a86 e-flex e-con-boxed e-con e-parent\" data-id=\"7569a86\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-4320774 elementor-widget elementor-widget-video\" data-id=\"4320774\" data-element_type=\"widget\" data-settings=\"{&quot;video_type&quot;:&quot;hosted&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad7ed0b\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t<div class=\"e-hosted-video elementor-wrapper elementor-open-inline\">\n\t\t\t\t\t<video class=\"elementor-video\" src=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/deploy3.mp4\" controls=\"\" preload=\"metadata\" controlsList=\"nodownload\"><\/video>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-19f2781 elementor-widget elementor-widget-video\" data-id=\"19f2781\" data-element_type=\"widget\" data-settings=\"{&quot;video_type&quot;:&quot;hosted&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad7f44d\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t<div class=\"e-hosted-video elementor-wrapper elementor-open-inline\">\n\t\t\t\t\t<video class=\"elementor-video\" src=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2025\/01\/deploy4.mp4\" controls=\"\" preload=\"metadata\" controlsList=\"nodownload\"><\/video>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-47473be elementor-widget elementor-widget-spacer\" data-id=\"47473be\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad7fb92\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-377266c elementor-widget elementor-widget-text-editor\" data-id=\"377266c\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad80265\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t\t\t<p style=\"text-align: center;\"><span style=\"font-weight: 400;\">Real World Hardware Deployment [<a href=\"https:\/\/daehwakim.com\/armor\/\">Source: Daehwa Kim<\/a>]<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-195cfe2d elementor-widget elementor-widget-heading\" data-id=\"195cfe2d\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad808bf\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span><h3 class=\"elementor-heading-title elementor-size-default\">Discover more about ARMOR<\/h3>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-4f2566a4 elementor-widget elementor-widget-text-editor\" data-id=\"4f2566a4\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad81018\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t\t\t<p><span style=\"font-weight: 400;\">Want to explore ARMOR\u2019s capabilities? The research team will soon release the source code, hardware details, and 3D CAD files on their GitHub repository. Dive deeper into this cutting-edge project by reading their<\/span><strong><a href=\"https:\/\/arxiv.org\/abs\/2412.00396\"> paper on arXiv<\/a><\/strong><span style=\"font-weight: 400;\">. Stay tuned for updates to replicate and innovate on this revolutionary approach to humanoid robot motion planning! To see ARMOR in action, check out their demonstration video on YouTube.<\/span><\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-54c0edb2 elementor-widget elementor-widget-video\" data-id=\"54c0edb2\" data-element_type=\"widget\" data-settings=\"{&quot;youtube_url&quot;:&quot;https:\\\/\\\/www.youtube.com\\\/watch?v=wVt4i97K_AQ&amp;ab_channel=DaehwaKim&quot;,&quot;video_type&quot;:&quot;youtube&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad8174e\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t<div class=\"elementor-wrapper elementor-open-inline\">\n\t\t\t<div class=\"elementor-video\"><\/div>\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-65c6c4b1 elementor-widget elementor-widget-spacer\" data-id=\"65c6c4b1\" data-element_type=\"widget\" data-widget_type=\"spacer.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad81db8\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t<div class=\"elementor-spacer\">\n\t\t\t<div class=\"elementor-spacer-inner\"><\/div>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t<div class=\"elementor-element elementor-element-7c9a2b09 e-flex e-con-boxed e-con e-parent\" data-id=\"7c9a2b09\" data-element_type=\"container\">\n\t\t\t\t\t<div class=\"e-con-inner\">\n\t\t\t\t<div class=\"elementor-element elementor-element-73cf6b49 elementor-widget elementor-widget-heading\" data-id=\"73cf6b49\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad82e41\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span><h4 class=\"elementor-heading-title elementor-size-default\">End Note<\/h4>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-1ad6db36 elementor-widget elementor-widget-text-editor\" data-id=\"1ad6db36\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad83501\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t\t\t<p>Hey community, we&#8217;re curating a monthly newsletter centering around the beloved <a href=\"https:\/\/www.seeedstudio.com\/xiao-series-page\"><span style=\"color: #99cc00\"><strong>Seeed Studio XIAO<\/strong><\/span><\/a>. If you want to stay up-to-date with:<\/p><p>\ud83e\udd16\ufe0f\u00a0<strong>Cool Projects from the Community<\/strong>\u00a0to get inspiration and tutorials<br \/>\ud83d\udcf0\u00a0<strong>Product Updates<\/strong>: firmware update, new product spoiler<br \/>\ud83d\udcd6\u00a0<strong>Wiki Updates<\/strong>: new wikis + wiki contribution<br \/>\ud83d\udce3\u00a0<strong>News<\/strong>: events, contests, and other community stuff<\/p><p>Please click the image below\ud83d\udc47 to subscribe now!<\/p>\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-5f1386e3 elementor-widget elementor-widget-image\" data-id=\"5f1386e3\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<span id=\"scroll69d169ad8495e\"  class=\"scrollMagicControl\" type=\"hidden\" effect = {} wpmp_enable_desktop=\"yes\" wpmp_enable_tablet=\"yes\" wpmp_enable_mobile=\"yes\" wpmp_trigger_hook=\"0.5\" wpmp_reverse=\"yes\" wpmp_class_CSS =\"custom\" split-text = {} value=\"scrollmagic\"><\/span>\t\t\t\t\t\t\t\t\t\t\t<a href=\"https:\/\/mailchi.mp\/seeed\/xiao\">\n\t\t\t\t\t\t\t<img loading=\"lazy\" decoding=\"async\" width=\"2560\" height=\"800\" src=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2024\/05\/XIAO-Newsletter-scaled.jpg\" class=\"attachment-full size-full wp-image-94852\" alt=\"\" srcset=\"https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2024\/05\/XIAO-Newsletter-scaled.jpg 2560w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2024\/05\/XIAO-Newsletter-300x94.jpg 300w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2024\/05\/XIAO-Newsletter-1030x322.jpg 1030w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2024\/05\/XIAO-Newsletter-768x240.jpg 768w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2024\/05\/XIAO-Newsletter-1536x480.jpg 1536w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2024\/05\/XIAO-Newsletter-2048x640.jpg 2048w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2024\/05\/XIAO-Newsletter-32x10.jpg 32w, https:\/\/www.seeedstudio.com\/blog\/wp-content\/uploads\/2024\/05\/XIAO-Newsletter-1024x320.jpg 1024w\" sizes=\"(max-width: 2560px) 100vw, 2560px\" \/>\t\t\t\t\t\t\t\t<\/a>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>Daehwa Kim (Carnegie Mellon University), Mario Srouji, Chen Chen, and Jian Zhang (Apple) have developed<\/p>\n","protected":false},"author":3623,"featured_media":107531,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_lmt_disableupdate":"","_lmt_disable":"","_price":"","_stock":"","_tribe_ticket_header":"","_tribe_default_ticket_provider":"","_tribe_ticket_capacity":"0","_ticket_start_date":"","_ticket_end_date":"","_tribe_ticket_show_description":"","_tribe_ticket_show_not_going":false,"_tribe_ticket_use_global_stock":"","_tribe_ticket_global_stock_level":"","_global_stock_mode":"","_global_stock_cap":"","_tribe_rsvp_for_event":"","_tribe_ticket_going_count":"","_tribe_ticket_not_going_count":"","_tribe_tickets_list":"[]","_tribe_ticket_has_attendee_info_fields":false,"iawp_total_views":0,"footnotes":""},"categories":[4391,4394],"tags":[1301,5075,5077,1312,494,4706,4803],"class_list":["post-107493","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-build","category-deploy","tag-ai","tag-armor","tag-humanoid-robot","tag-nvidia","tag-robot","tag-seeed-studio-xiao","tag-xiao-esp32s3"],"yoast_head":"<!-- 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