PDF-HR: Plug-and-Play Pose Distance Fields for Humanoid Robots

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

[SIGGRAPH 2025] SkillMimic-V2: Learning Robust and Generalizable Interaction Skills from Sparse and Noisy Demonstrations

Skill library for migrating IsaacLab projects to mjlab | 用于将 IsaacLab 项目迁移到 mjlab 的技能库

[CVPR 2026] EmbodMocap: In-the-Wild 4D Human-Scene Reconstruction for Embodied Agents

Welcome to GR00T Whole-Body Control (WBC)! This is a unified platform for developing and deploying advanced humanoid controllers. This includes: Decoupled WBC models used in NVIDIA Isaac-Gr00t, Gr0…

The first behavioral foundation model to control a virtual physics-based humanoid agent for a wide range of whole-body tasks.

[CVPR 2023 Highlight] Neural Kernel Surface Reconstruction

A web-based tool that edits the robot motion file in instinctlab ecosystem

A general physic-based retargeting framework.

Create motion for any robot through editing keyframe

Full Autonomy Stack for Mecanum Wheel Platform

TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control

A simple viewer for the .bvh animation file format written using raylib.

Rhoban Planning and Control

beyondAMP provides a unified pipeline to integrate Adversarial Motion Priors (AMP) into any IsaacLab robot setup, with minimal modifications and full compatibility with custom robot designs.

Depth Anything 3

BabyLocoFormer is an open-source unofficial baby version of LocoFormer.

Controlling diverse robots by inferring jacobian fields with deep networks! Let's make robots understand their bodies!

Bringing Characters to Life with Computer Brains in Unity

[arXiv 2025] TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System

Lidar Localization and Mapping

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

IsaacLab support for MimicKit