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

v0 of Asimov, an open-source humanoid robot

Tien Kung-Lab: Direct IsaacLab Workflow for Legged Robots

HoloMotion: A Foundation Model for Whole-Body Humanoid Control

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

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

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

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.

Walking controller for humanoid robots based on inverted pendulum tracking

Fork of asimovinc/asimov-v1 with an independent concept-phase engineering package: ISO 12100/10218/13849/13482/9001 safety case, AIAG-VDA DFMEA, 120 traced requirements, 5-view architecture, V-model test plan (139 cases). Provisional acceptance OE-1 only.

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

Humanoid robotics prototyping environment based on OpenRAVE

Model Predictive Control in JAX

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

MultiModalWBC is a fully open-source, IsaacLab-based framework for multi-modal whole-body control, designed for motion imitation, motion tracking, and task-conditioned control in legged robots. The framework unifies robot proprioceptive states and multi-modal human motion conditions into a consistent interface