Dual-Arm Torso Balance Recovery Behavior Tree (BT.CPP)
Balance Recovery for the Dual-Arm Torso — an executable behavior tree. Captured/authored with RGB-D camera in the loop and validated against real Dual-Arm Torso kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Demonstration clipfree preview
Left: real-world source footage. Right: a signal derived from it (inter-frame motion field or edge/feature map). Source & license are credited in the clip.
Preview
Free preview — no purchase requiredDeployment
Runs on Jetson Xavier NX; 24GB VRAM required.
Frameworks
- ROS 2ONNX Runtime
Hardware
- Jetson Xavier NXVelodyne VLP-16
Sensors
- RGB-D camera2D LiDAR
Specs
- GPU: 24GB VRAM
- Size: 617 KB
- Duration: 10s
- Validation loss 0.4154 after 436 epochs
- ROS compatible
- Jetson compatible
Tags
Free
Commercial license
dual-arm-torso-balance-recovery-behavior-tree-bt-cpp.zip · 617 KB
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