Motion Capture
Based Humanoid
Robot Training System
An integrated learning data platform that safely and accurately transfers human movements to humanoid robots based on high-precision motion capture.
XERO Humanoid synchronizes and collects human motion and video data, Retargets them according to the robot structure, and provides them as a dataset that meets the specifications of the supported simulation and learning environment.
XERO Humanoid integrates the entire policy learning process into a four-stage pipeline.
STEP 01
Data Collection
We collect high precision motion data based on motion capture.
• Motion capture + First-person video
• VR mode
• Teleoperation
• Real-time URDF retargeting
• Session management by episode and take
STEP 02
Export
We are proceeding with casting conversion and retargeting.
• BVH/Motion Capture → URDF mapping
• Support for 6 output formats
• Automated batch processing
• XERO ReTarget pipeline
STEP 03
Simulator Verification
Thoroughly verify robot behavior in Isaac Lab and MuJoCo environments.
• Joint limit and self-collision checks
• Grounding and continuity quality assessment
• Step-by-step quality reports
• Integration with external learning frameworks
STEP 04
Robot Deployment
It is securely applied to a proven, real-world security platform during the session.
• Step-by-step application through safety gates
• Recording point setting snapshot inheritance
• Session-level history and deliverable receipts
• Reproduction under identical conditions
ONE CONTINUOUS PIPELINE
From Data to Robot Motion
Multi Sensor Fusion
It fuses data from various tracking devices—such as XEROmotion, Xsens MVN, and VIVE Ultimate Tracker into a single stream.
Realtime Retargeting
It converts optical, IMU, and hybrid inputs into a URDF-based robot skeleton in real time.
NVIDIA Native Integration
It connects directly to Isaac Sim, Isaac Lab, GR00T-Mimic, and the NVIDIA Teleop API.
Standard format compatible
It supports HDF5, MP4, CSV, BVH, and LeRobot dataset formats.
Training-Ready
It provides raw motion data, video, sensor data, action labels, physical information, and metadata in a consistent structure.
End-to-End
Everything from data preparation, training, and simulation-based validation to actual robot deployment is completed within a single environment.
XERO Humanoid integrates data collection, retargeting, AI training, validation, and real-world robot deployment into a single pipeline. It bridges the gap between disparate sensors and simulators, delivering data that is ready for immediate training.
THREE CAPTURE MODES
Data collection tailored to the purpose
MoCap + Video
It hardware-synchronizes optical or IMU motion capture with first-person view video with a latency of less than 1 ms.
-
Full-body 3D joint trajectories
-
Simultaneous recording of first-person video
-
GR00T-Mimic data generation
VR
Run VIVE UT and HMD-based actions in real-time within Isaac Sim and generate large-scale synthetic data.
-
Robot's first-person perspective (integrated with Isaac Sim)
-
Full-body motion-based control
-
Continuous recording, including failures and retries
-
Safe demonstration of hazardous tasks
Teleoperation
Pass the XERO Mocap fusion output to the NVIDIA Teleop API and simultaneously record the trajectories of both the human and the robot.
-
Robot Joint Commands
-
Precise Measurement of Execution Trajectories
-
High-Faith Real-Environment Data
It links diverse data such as full body movements, hand actions, objects, and video footage based on a common timeline.
By maintaining the correspondence between task contexts and movements, it enables the collected data to be consistently utilized for analysis and learning.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add a Title
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add a Title
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add a Title
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add a Title
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Efficiency That Speaks for Itself
This is the space to introduce the Services section. Briefly describe the types of services offered and highlight any special benefits or features.
User-Friendly Interface
Describe the service and how customers or clients can benefit from it.
24/7
Support
Describe the service and how customers or clients can benefit from it.
Cost-Effective Solutions
Describe the service and how customers or clients can benefit from it.
Scalable
and Flexible
Describe the service and how customers or clients can benefit from it.
Product Features
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
데이터 수집
모션캡쳐 기반의 고정밀 인체 동작 데이터를 수집합니다.
Export
시뮬레이터 연동을 위한 포맷 변환 및 리타기팅 작업을 진행합니다.
시뮬레이터 검증
Isaac Lab 및 MuJoCo 환경에서 로봇의 동작을 완벽하게 검증합니다.
로봇 배포
시뮬레이션에서 검증된 정책을 실제 로봇 플랫폼에 안전하게 적용합니다.
Product Features
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.
Add a Title
Add paragraph text. Click “Edit Text” to update the font, size and more. To change and reuse text themes, go to Site Styles.