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TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control
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…
An open-source library for GPU-accelerated robot learning and sim-to-real transfer.
[CoRL 2025] TWIST: Teleoperated Whole-Body Imitation System
ProtoMotions is a GPU-accelerated simulation and learning framework for training physically simulated digital humans and humanoid robots.
[arXiv 2025] TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System
BFM_Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning
HoloMotion: A Foundation Model for Whole-Body Humanoid Control
This repository contains an example script to convert from a SMPL model to a bvh file.
Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.
A lightweight suite of motion imitation methods for training controllers.
Isaac Lab API, powered by MuJoCo-Warp, for RL and robotics research.
[ICRA 2026] GMR: General Motion Retargeting. Retarget human motions into diverse humanoid robots in real time on CPU. Retargeter for TWIST.
Official implementation of OpenTrack.
[RSS 2024] Agile But Safe: Learning Collision-Free High-Speed Legged Locomotion
Simulation verification and physical deployment of robot reinforcement learning algorithms, suitable for quadruped robots, wheeled robots, and humanoid robots. "sar" represents "simulation and real"
Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695
This repository provides tools to retarget motion data from the AMASS dataset to G1 humanoid motions.
[RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"
[CoRL 2024] Open-TeleVision: Teleoperation with Immersive Active Visual Feedback
Adversarial skill embeddings for training reusable controllers for physically simulated characters.
Official implementation of "Exbody2: Advanced Expressive Humanoid Whole-Body Control"
[RSS 2024]: Expressive Whole-Body Control for Humanoid Robots
RL from Physical Feedback: Aligning Large Motion Models with Humanoid Control
Simulating SMPL humanoid, supporting PHC/PHC-MJX/PULSE/SimXR code bases.
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"