humanoid

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

A curated list of awesome robot descriptions (URDF, MJCF)

Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged robot full-order torque-level control with both precision and agility in a training-free manner.

3D-printed open-source humanoid robot platform for sim-to-real and RL

🤖 The Full Process Python Package for Robot Learning from Demonstration and Robot Manipulation

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

[CVPR 2025 Highlight] InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions

The world's first printable open-source humanoid, starter kit.

Official Implementation of the ICLR 2024 spotlight paper: Universal Humanoid Motion Representations for Physics-Based Control

Node.js package to bypass CloudFlare's anti-bot JavaScript challenges

Official Implementation of the Universal Humanoid Controller in Mujoco. Supports Kinpoly (NeurIPS 2021) and EmbodiedPose (NeurIPS 2022).

Official implementation of "FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation"

Humanoid walking controller with various baseline methods

Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control

ROS packages for the ROBOTIS OP3

Official Implementation of the CVPR 2024 highlight paper: Real-Time Simulated Avatar from Head-Mounted Sensors

Official implementation of NeurIPS 2021 paper: "Dynamics-Regulated Kinematic Policy for Egocentric Pose Estimation". This repo contains a copy of the code for "Universal Humanoid Controller" and "Kinematic Policy".

Collection of centroidal control for legged robots

A minimal example of how to use Unity's AvatarBuilder.BuildHumanAvatar API.

A tool for adjusting bone proportions in real time for Unity Humanoid Rigs.