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Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695
Official Implementation of the ICCV 2023 paper: Perpetual Humanoid Control for Real-time Simulated Avatars
RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots
A fully open-source humanoid arm for physical AI research and deployment in contact-rich environments.
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[CVPR 2025 Highlight] InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions
Tien Kung-Lab: Direct IsaacLab Workflow for Legged Robots
Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for world-class robots including humanoids, running birds, exoskeletons, mechs and more.
Walking controller for humanoid robots based on inverted pendulum tracking
Humanoid robotics prototyping environment based on OpenRAVE
Unifying IsaacLab and Whole-Body Control in One Modular Framework
Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control
HoloMotion: A Foundation Model for Whole-Body Humanoid Motion Tracking
Soccer playing robot representing Canada from University of Toronto
Official codebase for TRILL (Teleoperation and Imitation Learning for Loco-manipulation)
Model Predictive Control in JAX
Humanoid Robot Manipulation Resources
A curated list of awesome material on legged robot locomotion using reinforcement learning (RL) and sim-to-real techniques.
Set of utilities for exporting/controlling your robot in Blender
Gesture Recognition For Human-Robot Interaction with modelling, training, analysing and recognising gestures based on computer vision and machine learning techniques. This work was done at Distributed Artificial Intelligence Lab (DAI Labor), Berlin.