Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695

A fully open-source humanoid arm for physical AI research and deployment in contact-rich environments.

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

Tien Kung-Lab: Direct IsaacLab Workflow for Legged Robots

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

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HoloMotion: A Foundation Model for Whole-Body Humanoid Control

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

Model Predictive Control in JAX

Soccer playing robot representing Canada from University of Toronto

A curated list of awesome material on legged robot locomotion using reinforcement learning (RL) and sim-to-real techniques.

Official codebase for TRILL (Teleoperation and Imitation Learning for Loco-manipulation)

Humanoid Robot Manipulation Resources

Towards Unified Latent VLA for Whole-body Loco-manipulation Control

Set of utilities for exporting/controlling your robot in Blender