generalroboticslab/DukeHumanoidv1

Training a humanoid robot for locomotion using Reinforcement Learning

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

[CoRL 2026] RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains

Codebase for Berkeley Humanoid Lite

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

Robust humanoid motion control via history-conditioned reinforcement learning and online distillation.

Terrain Grounded Imagination: a recipe for training humanoid locomotion on sparse and rough terrain through a world model with differentiable heightmap lookups.

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

Ultra-Efficient Humanoid Control with Differentiable Simulation.