humanoids

Training a humanoid robot for locomotion using Reinforcement Learning

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

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

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

HOI-Retarget: Contact-Centric Retargeting for Human-Object Interaction

[CoRL 2026 Oral] 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

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

[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

Gait-phase Estimation Module

Soma Viser: Web-based SOMA BVH viewer built on Viser

This repository hosts the implementation of a Dual-Arm Manipulation System developed in collaboration between Addverb Technologies and IIT Gandhinagar Robotics Lab.

Learning playground for humanoid robots related to robot soccer

microids takes natural language goals, decomposes them into device tasks using an LLM, and executes them against real hardware through Home Assistant. It checks device state before sending commands, retries on failure, and shows animated results in real-time.

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