humanoids

Training a humanoid robot for locomotion using Reinforcement Learning

[CoRL 2024] HumanPlus: Humanoid Shadowing and Imitation from Humans

v0 of Asimov, an open-source humanoid robot

SOMA BVH to humanoid robot motion retargeting library built with Newton and NVIDIA Warp

YARP - Yet Another Robot Platform

Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio

One policy. Any motion. Train universal whole-body tracking in mjlab—swap clips, not checkpoints.

The iCub Main Software Repository

SEROW Framework for N Legged Robot Walking Estimation

The Atlas Built For Humanoid Enthusiasts

Official codebase for paper "RoboNaldo: Accurate, Stable and Powerful Humanoid Soccer Shooting"

Implementation of Humanoid Standing Up, from the paper "Learning Humanoid Standing-up Control across Diverse Postures" out of Shanghai, in Pytorch

Whole body Inverse Kinematics based on Pinocchio and qpmad

[Humanoids 2022] Learning Collision-free and Torque-limited Robot Trajectories based on Alternative Safe Behaviors

[ICRA 2021] DILIGENT-KIO IEEE Xplore: https://ieeexplore.ieee.org/abstract/document/9561248 arXiv: https://arxiv.org/abs/2105.14914

[CVPR2026] InterAgent: Physics-based Multi-agent Command Execution via Diffusion on Interaction Graphs

Legged Contact Detection (LCD): A deep learning approach for Contact Estimation of Legged Robots using inertial and F/T measurements

Plugins, devices and network wrappers for Yarp-ROS2 interoperation

This is a Human-like Upper-limb Motion Planner (HUMP) for the generation of arm-hand movements in humanoid robots.

Surrogate OS, The professional identity engine that synthesizes complete AI experts from a role input — and deploys them across chat, voice, avatar, and humanoid interfaces.