humanoid-robot

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

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

RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robots

Official Implementation of the ICCV 2023 paper: Perpetual Humanoid Control for Real-time Simulated Avatars

Tien Kung-Lab: Direct IsaacLab Workflow for Legged Robots

v0 of Asimov, an open-source humanoid robot

HoloMotion: A Foundation Model for Whole-Body Humanoid Control

[ICLR 2026] Towards Unified Latent VLA for Whole-body Loco-manipulation Control

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

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

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

Microban is an affordable, fully 3D-printable, and 100% open-source humanoid robot. Powered by a Raspberry Pi Zero 2W and 19 Dynamixel servomotors, it serves as an accessible DIY platform for learning, experimentation, and research in robotics.

Model Predictive Control in JAX

Walking controller for humanoid robots based on inverted pendulum tracking

TrackerLab is a cutting-edge modular framework for humanoid motion retargeting, trajectory tracking, and skill-level control, built on top of IsaacLab.

[RSS 2026] The first framework enabling humanoid robots to learn whole-body loco-manipulation from egocentric human demos

Humanoid robotics prototyping environment based on OpenRAVE

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