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

Official implementation of Learning Athletic Humanoid Tennis Skills from Imperfect Human Motion Data

Welcome to GR00T Whole-Body Control (WBC)! This is a unified platform for developing and deploying advanced humanoid controllers. This includes: Decoupled WBC models used in NVIDIA Isaac-Gr00t, Gr0…

BFM_Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning

Python inverse kinematics based on MuJoCo.

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

Official Implementation of the Paper: Object Motion Guided Human Motion Synthesis (SIGGRAPH Asia 2023 (TOG))

[ICRA 2026] Official implementation of "Towards Adaptable Humanoid Control via Adaptive Motion Tracking"

[IROS 2025] Generalizable Humanoid Manipulation with 3D Diffusion Policies. Part 1: Train & Deploy of iDP3

[arXiv 2025] VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation

Implementation of the Large Behavioral Model architecture for dexterous manipulation from Toyota Research Institute

[CVPR 25 Highlight & ECCV Workshop 24 Best Paper] RoboTwin Dual-arm Robot Manipulation Simulation Platform

Reference workflow for generating large amounts of synthetic motion trajectories for robot manipulation from a few human demonstrations.

A comprehensive list of papers about Robot Manipulation, including papers, codes, and related websites.

DreamGen: Nvidia GEAR Lab's initiative to solve the robotics data problem using world models

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

TidyBot++: An Open-Source Holonomic Mobile Manipulator for Robot Learning

The official codebase of paper "GMT: General Motion Tracking for Humanoid Whole-Body Control"

Official Implementation of "KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills"

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

Python interface for unitree sdk2

[CVPR'25 Oral] "GROVE: A Generalized Reward for Learning Open-Vocabulary Physical Skill"

NVIDIA Isaac GR00T N1.6 - A Foundation Model for Generalist Robots.

Open-sourced code for "HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit".

OmniControl: Control Any Joint at Any Time for Human Motion Generation, ICLR 2024