Stars
GentleHumanoid: Whole Body Motion Tracking with Compliance - Training
I needed a tool that could run forward kinematics on specific robot links and feed those values in as end-effectors for RL policies. Nothing out there, so I decided to build it.
Official implementation of "FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation"
URDF-Architect is a web-based visual URDF robot modeler with 3D workspace, structured skeleton/detail/hardware workflows, motor library integration, MuJoCo export, and AI assistance.
The implementation of elevation mapping on humanoid robots using a single MID-360 LiDAR.
Official implementation of "APEX: Action Priors Enable Efficient Exploration for Skill Imitation on Articulated Robots"
[NeurIPS 2023] MotionGPT: Human Motion as a Foreign Language, a unified motion-language generation model using LLMs
Repository for our paper: Robotic World Model: A Neural Network Simulator for Robust Policy Optimization in Robotics
Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data
This project implements real-time state estimation algorithms for the Unitree Go2 quadruped robot using forward kinematics and sensor fusion. The system demonstrates how legged robots estimate thei…
library to read/write .npy and .npz files in C/C++
Unified framework for robot learning built on NVIDIA Isaac Sim
This repository is based on AMP_for_Hardware.
Motion capture retargeting library for humanoid robots
Simplified Perpetual Humanoid Control with Pufferlib, CARBS
[RSS 2025] AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control
Humanoid walking controller with various baseline methods
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…
One-Step Integration of AMP into IsaacLab
Website for "Gallant: Voxel Grid-based Humanoid Locomotion and Local-navigation across 3D Constrained Terrains"
HUST-3W / GMR
Forked from YanjieZe/GMR[arXiv 2025] GMR: General Motion Retargeting. Retarget human motions into diverse humanoid robots in real time on CPU. Add IK-CONFIG auto-generation function for humanoid robots.
DemoHLM: From One Demonstration to Generalizable Humanoid Loco-Manipulation
Retargeting of the ZeroEGGs dataset onto a common character