Full-body under-controlled robot retargeting, yo.
FURRY is a student research project on Meta Quest 3 teleoperation and trajectory collection for humanoids in MuJoCo. We start from TWIST2, target Unitree G1 with Dex3-1 hands, and investigate how far sparse human observations can support whole-body motion and dexterous loco-manipulation.
Simulation only. Controller-based and controller-free Quest input are equal research tracks. An external RealSense RGB-D camera is optional. Physical-robot deployment is outside this project's scope.
- Knowledge base and reading order
- Getting started
- Compressed literature review
- TWIST2 baseline audit
- Research roadmap and umbrella issues
- Contribution workflow
- GitHub Wiki mirror
The repository includes the research foundation and an experimental standalone Quest 3 / macOS G1 prototype. The prototype runs MuJoCo and a TWIST2 policy locally on the headset, with passthrough, controller wrist IK, simulation reset and local motion recording. It is not a complete reproduction of TWIST2: operator-reported arm correspondence remains poor, and cup lifting, Kick-T, walking and optical-hand tracking are not validated. See implementation task #11. Architecture choices remain provisional research decisions.
docs/ is authoritative; the Wiki is a manually published mirror. See the
publishing procedure.
Upstream software, models and datasets have their own licenses. FURRY's license does not relicense them, and they are not bundled here.