amazon-far/RPL

Training a humanoid robot for locomotion using Reinforcement Learning

Vision-Based Humanoid Locomotion

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

Reinforcement learning codebase built on MJLab for Unitree G1 and Go2 Parkour.

[RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"

[CoRL 2023] Robot Parkour Learning

Learning Visual Humanoid Loco-Manipulation Policies from Simulated Experiences

[RSS 2026] Toward Reliable Sim-to-Real Predictability for MoE-based Robust Quadrupedal Locomotion. Official implementation of RSS 2026.

LocoFormer - Generalist Locomotion via Long-Context Adaptation