A general physic-based retargeting framework.

TRAM: Global Trajectory and Motion of 3D Humans from in-the-wild Videos

The repository provides code for running inference with the SAM 3D Body Model (3DB), links for downloading the trained model checkpoints and datasets, and example notebooks that show how to use the…

A Paper List for Humanoid Robot Learning.

unitree Go2 robot learns locomotion with N-P3O algorithm and HIM alike policy trained by isaacgym

CoRL2025 UniFP: Learning a Unified Policy for Position and Force Control in Legged Loco-Manipulation

[arXiv 2025] TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System

Code for "GVHMR: World-Grounded Human Motion Recovery via Gravity-View Coordinates", Siggraph Asia 2024

Python inverse kinematics based on MuJoCo

[IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning

Simulation verification and physical deployment of robot reinforcement learning algorithms, suitable for quadruped robots, wheeled robots, and humanoid robots. "sar" represents "simulation and real"

Official Implementation of the ICCV 2023 paper: Perpetual Humanoid Control for Real-time Simulated Avatars

[CoRL 2025] TWIST: Teleoperated Whole-Body Imitation System

Descriptions for simulation

[arXiv 2025] GMR: General Motion Retargeting. Retarget human motions into diverse humanoid robots in real time on CPU. Retargeter for TWIST.

ProtoMotions is a GPU-accelerated simulation and learning framework for training physically simulated digital humans and humanoid robots.

Integrating Constraints in PPO (using Isaac Gym or Isaac Lab)

🔁 AMP-RSL-RL: Adversarial Motion Priors for robotic RL (PPO + motion imitation)

Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"

[RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"

Table tennis physics simulations, ball trajectories considering drag, magnus force, and table friction.

Dynamical movement primitives (DMPs), probabilistic movement primitives (ProMPs), and spatially coupled bimanual DMPs for imitation learning.

RL Extension Library for Robots, Based on IsaacLab.

RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation

A Benchmark for Low-Level Manipulation in Home Rearrangement Tasks

SAPIEN Manipulation Skill Framework, an open source GPU parallelized robotics simulator and benchmark, led by Hillbot, Inc.