A Paper List for Humanoid Robot Learning.

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

[ICRA 2026] GMR: General Motion Retargeting. Retarget human motions into diverse humanoid robots in real time on CPU. Retargeter for TWIST.

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

ProtoMotions is a GPU-accelerated simulation and learning framework for training physically simulated digital humans and humanoid robots.

Roboto_origin Fully Open-Source DIY Humanoid Robot/萝博头原型机全开源手搓级人形机器人

This repository implements teleoperation of the Unitree humanoid robot using XR Devices.

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

Simulation verification and physical deployment of robot reinforcement learning algorithms, suitable for quadruped robots, wheeled robots, and humanoid robots. "sar" represents "simulation and real"

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

Training a humanoid robot for locomotion using Reinforcement Learning

Humanoid Robots Resources

Poppy Humanoid is an open-source and 3D printed humanoid robot. Optimized for research and education purposes, its modularity allows for a wide range of applications and experimentations.

HOPEJr_open-source_DIY_Humanoid_Robot_with_dexterous_hands

3D-printed open-source humanoid robot platform for sim-to-real and RL

v0 of Asimov, an open-source humanoid robot

Tien Kung-Lab: Direct IsaacLab Workflow for Legged Robots

End-to-end pipeline converting generative videos (Veo, Sora) to humanoid robot motions

world modeling challenge for humanoid robots

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC

[RSS 2024]: Expressive Whole-Body Control for Humanoid Robots

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

HoloMotion: A Foundation Model for Whole-Body Humanoid Control

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

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

Whole-Body Dynamics Control Software Package for Humanoid Robots

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

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