furniture-moving rehearsal

Furniture-Moving Rehearsal lets a simulated humanoid try a furniture move first. Users upload a room image, enter a reference dimension, and select furniture and a destination by clicking or speaking. Meta models turn the image and request into an editable room estimate and a move strategy. A simulated Unitree G1 rehearses the move in Isaac Sim, producing recorded motion, placement results, and plain-language explanations. Built for people who cannot easily move furniture themselves, the project explores three questions: Can it be moved? How can it be moved? Can the result be explained simply? I trained and published three PPO task policies for approach, carry, and push, together with checkpoints, configurations, and evaluation evidence. All robot motion is simulated.