ProtoMotions is a GPU-accelerated simulation and learning framework for training physically simulated digital humans and humanoid robots.
[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.
Visual Imitation Enables Contextual Humanoid Control. CoRL 2025, Best Student Paper Award.
3D-printed open-source humanoid robot platform for sim-to-real and RL
BFM_Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning
v0 of Asimov, an open-source humanoid robot
🤖 The Full Process Python Package for Robot Learning from Demonstration and Robot Manipulation
人与载具的仿真平台（Human-vehicle Simulator）
A plug-and-play deploy framework for robots. Just deploy, just do.
[CVPR 2025 Highlight] InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions
Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
Fastest Robotics Runtime System. If phones have Android, robots deserve HORUS.
[L4DC 2026 (Oral)] "FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation"
Modular open-source brain for legged robots. Web UI for teleops, autonomous navigation, mapping & monitoring. 3D-printable hardware that runs on ROS2.
Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control
Official Implementation of the ICLR 2024 spotlight paper: Universal Humanoid Motion Representations for Physics-Based Control