[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)

ProtoMotions is a GPU-accelerated simulation and learning framework for training physically simulated digital humans and humanoid robots.

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

Visual Imitation Enables Contextual Humanoid Control. CoRL 2025, Best Student Paper Award.

🤖 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

v0 of Asimov, an open-source humanoid robot

BFM_Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning

人车模拟器

A plug-and-play deploy framework for robots. Just deploy, just do.

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

[L4DC 2026] "FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation"

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

Fastest Robotics Runtime System. If phones have Android, robots deserve HORUS.

Official implementation of the paper: "PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction System"

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

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

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

Code for "PHUMA: Physically-Grounded Humanoid Locomotion Dataset"

Humanoid walking controller with various baseline methods

ROS packages for the ROBOTIS OP3

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

Modular open-source brain for legged robots. Web UI for teleops, autonomous navigation, mapping & monitoring. 3D-printable hardware that runs on ROS2.

Official implementation of PACER, Pedestrian Animation ControllER, of CVPR 2023 paper: "Trace and Pace: Controllable Pedestrian Animation via Guided Trajectory Diffusion".

Collection of centroidal control for legged robots

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".

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