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Top 100 · Humanoid Robots前 100 · 人形机器人
100 repositories sorted by humanoid robots 按 人形机器人 排序，共 100 个仓库
| # | Repository仓库 | Stars | Forks | Language语言 | Issues | Description描述 | Last Commit最后提交 |
|---|---|---|---|---|---|---|---|
| 1 | dimos dimensionalOS | 4.6k | 827 | Python | 525 | Dimensional is the agentic operating system for physical space. Command humanoids, quadrupeds, drones, and other hardware platforms in natural language and build multi-agent systems that work seamlessly with physical input (cameras, lidar, actuators).维度是物理空间的代理操作系统。用自然语言命令人形机器人、四足动物、无人机和其他硬件平台，并构建与物理输入（相机、激光雷达、执行器）无缝协作的多代理系统。 | 2026-10-11 |
| 2 | Artificial-Intelligence-Deep-Learning-Machine-Learning-Tutorials TarrySingh | 4.0k | 1.6k | Python | 15 | Synapsa Commons: free, hands-on AI courses that run anywhere (Colab, Kaggle, Binder, Codespaces, Jupyter). EU AI Act conformity evidence, model validation, predictive maintenance, document extraction, retrieval and RAG, AI agents and MCP, a simulated humanoid. Every lesson autograded. From the team building Synapsa. | 2026-10-01 |
| 3 | GR00T-WholeBodyControl NVlabs | 3.7k | 611 | Python | 35 | Welcome to GR00T Whole-Body Control (WBC)! This is a unified platform for developing and deploying advanced humanoid controllers. This includes: Decoupled WBC models used in NVIDIA Isaac-Gr00t, Gr00t N1.5 and N1.6 and GEAR-SONIC 欢迎来到 GR00T 全身控制 (WBC)！这是一个用于开发和部署高级人形控制器的统一平台。这包括： NVIDIA Isaac-Gr00t、Gr00t N1.5 和 N1.6 以及 GEAR-SONIC 中使用的解耦 WBC 模型 | 2026-09-23 |
| 4 | openarm enactic | 3.6k | 382 | MDX | 15 | A fully open-source humanoid arm for physical AI research and deployment in contact-rich environments.完全开源的人形手臂，用于在接触丰富的环境中进行物理人工智能研究和部署。 | 2026-10-09 |
| 5 | Psi0 physical-superintelligence-lab | 2.9k | 106 | Python | 0 | [RSS'26] Welcome to Psi-Zero, a Humanoid VLA towards Universal Humanoid Intelligence.Error 500 (Server Error)!!1500.That’s an error.There was an error. Please try again later.That’s all we know. | 2026-09-29 |
| 6 | awesome-humanoid-robot-learning YanjieZe | 2.8k | 162 | Python | 0 | A Paper List for Humanoid Robot Learning.人形机器人学习论文列表。 | 2026-10-09 |
| 7 | GMR YanjieZe | 2.8k | 481 | Python | 73 | [ICRA 2026] GMR: General Motion Retargeting. Retarget human motions into diverse humanoid robots in real time on CPU. Retargeter for TWIST.[ICRA 2026] GMR：通用运动重定向。在 CPU 上实时将人体动作重新定位为各种人形机器人。 TWIST 的重定向器。 | 2026-04-02 |
| 8 | roboto_origin Roboparty | 2.6k | 350 | Python | 0 | 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 | 2026-10-10 |
| 9 | ProtoMotions NVlabs | 2.4k | 449 | Python | 13 | ProtoMotions is a GPU-accelerated simulation and learning framework for training physically simulated digital humans and humanoid robots.ProtoMotions 是一个 GPU 加速的模拟和学习框架，用于训练物理模拟的数字人和人形机器人。 | 2026-09-22 |
| 10 | ASAP LeCAR-Lab | 2.1k | 195 | Python | 62 | [RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"[RSS 2025]“尽快：协调模拟和现实世界物理以学习敏捷的人形全身技能” | 2026-01-06 |
| 11 | humanoid-gym roboterax | 2.1k | 253 | Python | 21 | Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695Humanoid-Gym：使用零射击 Sim2Real 传输的人形机器人强化学习 https://arxiv.org/abs/2404.05695 | 2025-01-26 |
| 12 | berkeley-humanoid-lite HybridRobotics | 2.0k | 312 | Python | 8 | Codebase for Berkeley Humanoid LiteBerkeley Humanoid Lite 代码库 | 2026-03-10 |
| 13 | xr_teleoperate unitreerobotics | 1.7k | 345 | Python | 9 | This repository implements teleoperation of the Unitree humanoid robot using XR Devices.该存储库使用 XR 设备实现了 Unitree 人形机器人的远程操作。 | 2026-09-07 |
| 14 | awesome-robot-descriptions robot-descriptions | 1.7k | 148 | N/A | 2 | A curated list of awesome robot descriptions (URDF, MJCF)精选的精彩机器人描述列表（URDF、MJCF） | 2026-10-02 |
| 15 | rl_sar fan-ziqi | 1.5k | 200 | C++ | 15 | Simulation verification and physical deployment of robot reinforcement learning algorithms, suitable for quadruped robots, wheeled robots, and humanoid robots. "sar" represents "simulation and real"机器人强化学习算法的仿真验证和物理部署，适用于四足机器人、轮式机器人、仿人机器人。 “sar”代表“模拟与真实” | 2026-08-16 |
| 16 | PHC ZhengyiLuo | 1.3k | 128 | Python | 28 | Official Implementation of the ICCV 2023 paper: Perpetual Humanoid Control for Real-time Simulated AvatarsICCV 2023 论文：Perpetual Humanoid Control for Real-time Simulated Avatars 的正式实现 | 2025-08-21 |
| 17 | asimov-1 menloresearch | 1.3k | 213 | Python | 2 | v1 of Asimov, an open-source humanoid robot 开源人形机器人阿西莫夫 v1 | 2026-10-06 |
| 18 | LearningHumanoidWalking rohanpsingh | 1.2k | 139 | Python | 18 | Training a humanoid robot for locomotion using Reinforcement Learning使用强化学习训练人形机器人进行运动 | 2026-05-03 |
| 19 | poppy-humanoid poppy-project | 1.1k | 290 | Jupyter Notebook | 4 | 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. Poppy Humanoid 是一款开源 3D 打印人形机器人。其模块化设计针对研究和教育目的进行了优化，可进行广泛的应用和实验。 | 2021-12-06 |
| 20 | human2humanoid LeCAR-Lab | 1.1k | 100 | Python | 37 | [IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning[IROS 2024] 学习人对人的实时全身远程操作。 [CoRL 2024] OmniH2O：通用且灵巧的人对人全身远程操作和学习 | 2025-02-21 |
| 21 | PBHC TeleHuman | 1.1k | 141 | Python | 4 | Official Implementation of "KungfuBot: Physics-Based Humanoid Whole-Body Control for Learning Highly-Dynamic Skills"《KungfuBot：基于物理的人形全身控制，学习高动态技能》正式落地 | 2026-07-01 |
| 22 | dial-mpc LeCAR-Lab | 1.0k | 106 | Python | 15 | Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". DIAL-MPC is a novel sampling-based MPC framework for legged robot full-order torque-level control with both precision and agility in a training-free manner.论文“通过扩散式退火实现扭矩级运动控制的基于全阶采样的 MPC”的正式实现。 DIAL-MPC 是一种新颖的基于采样的 MPC 框架，用于以免训练的方式实现腿式机器人全阶扭矩水平控制，同时具有精度和敏捷性。 | 2025-05-28 |
| 23 | awesome-humanoid-learning jonyzhang2023 | 947 | 43 | N/A | 1 | Humanoid Robots Resources人形机器人资源 | 2026-03-16 |
| 24 | HumanShaders matmadness | 927 | 69 | GDShader | 0 | A set of shaders for Godot to create realistic humanoid charactersGodot 的一组着色器，用于创建逼真的人形角色 | 2026-09-20 |
| 25 | FAST_LIO_LOCALIZATION_HUMANOID deepglint | 921 | 88 | C++ | 18 | Localization by LiDAR for Humanoid(like Unitree G1) 人形机器人的 LiDAR 定位（如 Unitree G1） | 2026-01-06 |
| 26 | TWIST2 amazon-far | 881 | 95 | Python | 37 | [arXiv 2025] TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System[arXiv 2025] TWIST2：可扩展、便携式和整体人形数据收集系统 | 2026-09-23 |
| 27 | humanplus MarkFzp | 853 | 121 | Python | 0 | [CoRL 2024] HumanPlus: Humanoid Shadowing and Imitation from Humans[CoRL 2024] HumanPlus：人形影子和人类模仿 | 2024-07-01 |
| 28 | VideoMimic hongsukchoi | 838 | 66 | Python | 7 | Visual Imitation Enables Contextual Humanoid Control. CoRL 2025, Best Student Paper Award.视觉模仿实现情境人形控制。 CoRL 2025，最佳学生论文奖。 | 2025-11-25 |
| 29 | zeroth-bot zeroth-robotics | 836 | 131 | N/A | 4 | 3D-printed open-source humanoid robot platform for sim-to-real and RL用于仿真到真实和强化学习的 3D 打印开源人形机器人平台 | 2025-05-24 |
| 30 | HOPEJr TheRobotStudio | 833 | 102 | C# | 12 | HOPEJr_open-source_DIY_Humanoid_Robot_with_dexterous_handsHOPEJr_开源_DIY_Humanoid_Robot_with_dterous_hands | 2026-05-04 |
| 31 | BFM-Zero LeCAR-Lab | 807 | 73 | Python | 6 | BFM_Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement LearningBFM_Zero：使用无监督强化学习的人形控制的即时行为基础模型 | 2026-07-15 |
| 32 | metamotivo facebookresearch | 801 | 77 | Python | 7 | The first behavioral foundation model to control a virtual physics-based humanoid agent for a wide range of whole-body tasks.第一个行为基础模型，用于控制基于虚拟物理的人形代理来执行各种全身任务。 | 2025-06-10 |
| 33 | humanoid-bench carlosferrazza | 798 | 129 | Python | 23 | 2025-09-18 | |
| 34 | asimov-v0 menloresearch | 790 | 97 | N/A | 1 | v0 of Asimov, an open-source humanoid robot开源人形机器人阿西莫夫 v0 | 2026-01-28 |
| 35 | video2robot AIM-Intelligence | 747 | 83 | Python | 3 | End-to-end pipeline converting generative videos (Veo, Sora) to humanoid robot motions将生成视频（Veo、Sora）转换为人形机器人动作的端到端管道 | 2025-12-18 |
| 36 | HoloMotion HorizonRobotics | 723 | 48 | Python | 0 | HoloMotion: A Foundation Model for Whole-Body Humanoid ControlHoloMotion：全身人形控制的基础模型 | 2026-09-11 |
| 37 | Rofunc Skylark0924 | 722 | 62 | Python | 14 | 🤖 The Full Process Python Package for Robot Learning from Demonstration and Robot Manipulation🤖 从演示到机器人操作的机器人学习全流程Python包 | 2025-05-19 |
| 38 | LATENT GalaxyGeneralRobotics | 719 | 49 | Python | 4 | Official implementation of Learning Athletic Humanoid Tennis Skills from Imperfect Human Motion Data从不完美的人体运动数据中学习运动人形网球技能的正式实施 | 2026-04-30 |
| 39 | soma-retargeter NVIDIA | 665 | 102 | Python | 5 | SOMA BVH to humanoid robot motion retargeting library built with Newton and NVIDIA Warp使用 Newton 和 NVIDIA Warp 构建的 SOMA BVH 到人形机器人运动重定向库 | 2026-10-01 |
| 40 | inspect-robots robocurve | 662 | 81 | Python | 25 | Open source evals for physical AI. Run any LLM/VLA on any arm/humanoid against any real/sim benchmark.物理人工智能的开源评估。根据任何真实/模拟基准在任何手臂/人形机器人上运行任何 LLM/VLA。 | 2026-10-03 |
| 41 | hutb OpenHUTB | 646 | 453 | C++ | 217 | 人车模拟器（Human-vehicle Simulator） | 2026-10-10 |
| 42 | HoST InternRobotics | 641 | 71 | Python | 22 | [RSS 2025 Best Systems Paper Finalist] 💐Official implementation of "Learning Humanoid Standing-up Control across Diverse Postures"【RSS 2025 最佳系统论文入围】💐《学习人形站立控制不同姿势》正式落地 | 2025-06-17 |
| 43 | humanoid-motion-intelligence RealXiaoze | 640 | 51 | N/A | 0 | 人形机器人运动智能论文、开源项目、产业与求职知识库 | 2026-10-08 |
| 44 | OpenHomie InternRobotics | 620 | 49 | C++ | 2 | Open-sourced code for "HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit".“HOMIE：具有同构外骨骼驾驶舱的人形机器人操纵”的开源代码。 | 2026-09-08 |
| 45 | RoboJuDo HansZ8 | 583 | 82 | Python | 12 | A plug-and-play deploy framework for robots. Just deploy, just do.一个即插即用的机器人部署框架。只需部署，即可执行。 | 2026-08-27 |
| 46 | 1xgpt 1x-technologies | 569 | 50 | Python | 6 | world modeling challenge for humanoid robots人形机器人世界建模挑战赛 | 2024-11-08 |
| 47 | GRAIL NVlabs | 560 | 43 | Python | 5 | 🤖 GRAIL is a fully digital data-generation pipeline that synthesizes humanoid loco-manipulation data from 3D assets and world models. – 🌟 CoRL 2026 (Oral) | 2026-09-29 |
| 48 | Improved-3D-Diffusion-Policy YanjieZe | 556 | 35 | Python | 3 | [IROS 2025] Generalizable Humanoid Manipulation with 3D Diffusion Policies. Part 1: Train & Deploy of iDP3[IROS 2025] 使用 3D 扩散策略的通用人形操纵。第 1 部分：iDP3 的训练和部署 | 2025-06-16 |
| 49 | TextOp TeleHuman | 547 | 55 | Python | 2 | TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and ControlTextOp：实时交互式文本驱动的人形机器人运动生成和控制 | 2026-02-07 |
| 50 | microban Rhoban | 540 | 93 | Python | 0 | Microban is an affordable, fully 3D-printable, and 100% open-source humanoid robot. Powered by a Raspberry Pi Zero 2W and 19 Dynamixel servomotors, it serves as an accessible DIY platform for learning, experimentation, and research in robotics.Error 500 (Server Error)!!1500.That’s an error.There was an error. Please try again later.That’s all we know. | 2026-09-10 |
| 51 | InterMimic Sirui-Xu | 538 | 34 | Python | 1 | [CVPR 2025 Highlight] InterMimic: Towards Universal Whole-Body Control for Physics-Based Human-Object Interactions【CVPR 2025亮点】InterMimic：迈向基于物理的人机交互的通用全身控制 | 2026-04-21 |
| 52 | Hector_Simulation DRCL-USC | 535 | 133 | C++ | 4 | Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPCHECTOR 仿人机器人运动控制/双足运动控制/基于力和力矩的 MPC 仿真软件 (ROS/MATLAB) | 2025-01-13 |
| 53 | expressive-humanoid chengxuxin | 499 | 38 | Python | 17 | [RSS 2024]: Expressive Whole-Body Control for Humanoid Robots[RSS 2024]：人形机器人的富有表现力的全身控制 | 2025-03-30 |
| 54 | Humanoid-GPT GalaxyGeneralRobotics | 480 | 36 | Python | 3 | Official implementation of AstraBrain-WBC 0.5AstraBrain-WBC 0.5 正式实施 | 2026-08-20 |
| 55 | HumanoidVerse LeCAR-Lab | 475 | 31 | Python | 9 | 2025-06-12 | |
| 56 | humanoid_amp linden713 | 470 | 39 | Python | 10 | Isaac Lab Humanoid AMP for Unitree G1适用于 Unitree G1 的 Isaac Lab 人形 AMP | 2025-10-18 |
| 57 | humanoid-general-motion-tracking zixuan417 | 447 | 20 | Python | 8 | The official codebase of paper "GMT: General Motion Tracking for Humanoid Whole-Body Control"论文《GMT: General Motion Tracking for Humanoid Whole-Body Control》的官方代码库 | 2025-08-08 |
| 58 | horus softmata | 442 | 31 | Rust | 4 | Fastest Robotics Runtime System. If phones have Android, robots deserve HORUS.最快的机器人运行时系统。 如果手机有安卓系统，机器人就值得荷鲁斯。 | 2026-10-05 |
| 59 | FALCON LeCAR-Lab | 436 | 50 | Python | 19 | [L4DC 2026 (Oral)] "FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation"【L4DC 2026（口语）】《FALCON：学习力自适应人形机能操纵》 | 2026-04-09 |
| 60 | EasyMotionRecorder neon-izm | 425 | 55 | C# | 5 | Unityエディタ上でVRIKなどのモーションキャプチャをしたHumanoidキャラクターのモーションを記録, 再生をするスクリプト一个脚本，用于在 Unity 编辑器上记录和回放通过动作捕捉（例如 VRIK）捕获的人形角色的动作。 | 2021-11-18 |
| 61 | GR00T-VisualSim2Real NVlabs | 424 | 46 | Python | 5 | GR00T-VisualSim2Real: Open-source sim-to-real framework for humanoid visual loco-manipulation. Train in simulation, deploy zero-shot on real robots with RGB + proprioception for tasks like pick-and-place and door opening.GR00T-VisualSim2Real：用于人形视觉局部操作的开源模拟到真实框架。进行模拟训练，在具有 RGB + 本体感觉的真实机器人上部署零射击，以执行拾放和开门等任务。 | 2026-04-20 |
| 62 | humanoid-control pocketxjl | 419 | 70 | C++ | 7 | A humanoid bipedal walking control repo using NMPC and WBC, and simulation with mujoco. Contact: xuejl2001@mail.ustc.edu.cn使用 NMPC 和 WBC 的人形双足步行控制存储库，并使用 mujoco 进行模拟。联系方式：xuejl2001@mail.ustc.edu.cn | 2025-01-05 |
| 63 | openclonk openclonk | 401 | 62 | C++ | 18 | A free multiplayer action game where you control small and nimble humanoids一款免费的多人动作游戏，您可以在其中控制小型灵活的类人生物 | 2026-04-28 |
| 64 | AMO OpenTeleVision | 386 | 23 | Python | 13 | [RSS 2025] AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control[RSS 2025] AMO：超灵巧类人全身控制的自适应运动优化 | 2025-11-19 |
| 65 | wb_humanoid_mpc manumerous | 383 | 75 | C++ | 8 | Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control用于实时人形机器人操纵规划和控制的全身非线性 MPC | 2026-10-01 |
| 66 | OpenLoong-Dyn-Control loongOpen | 376 | 74 | C++ | 3 | Whole-Body Dynamics Control Software Package for Humanoid Robots仿人机器人全身动力学控制软件包 | 2025-05-27 |
| 67 | BotBrain botbotrobotics | 375 | 102 | TypeScript | 3 | Modular open-source brain for legged robots. Web UI for teleops, autonomous navigation, mapping & monitoring. 3D-printable hardware that runs on ROS2.用于腿式机器人的模块化开源大脑。用于远程操作、自主导航、地图绘制和监控的 Web UI。在 ROS2 上运行的 3D 打印硬件。 | 2026-06-16 |
| 68 | PULSE ZhengyiLuo | 372 | 26 | Python | 9 | Official Implementation of the ICLR 2024 spotlight paper: Universal Humanoid Motion Representations for Physics-Based ControlICLR 2024 焦点论文的正式实施：基于物理控制的通用人形运动表示 | 2025-02-08 |
| 69 | PLEN2 plenprojectcompany | 364 | 106 | HTML | 4 | The world's first printable open-source humanoid, starter kit.世界上第一个可打印的开源人形机器人入门套件。 | 2021-01-13 |
| 70 | robot_retargeter ccrpRepo | 360 | 35 | Python | 4 | Motion retargeting pipeline from SMPL-X / source robots to target humanoid robots.从 SMPL-X/源机器人到目标人形机器人的运动重定向管道。 | 2026-06-29 |
| 71 | SMPLSim ZhengyiLuo | 350 | 28 | Python | 7 | Simulating SMPL humanoid, supporting PHC/PHC-MJX/PULSE/SimXR code bases. 模拟SMPL人形，支持PHC/PHC-MJX/PULSE/SimXR代码库。 | 2025-11-03 |
| 72 | WBC-AGILE nvidia-isaac | 349 | 42 | Python | 2 | A Comprehensive Workflow for Humanoid Loco-Manipulation Learning人形机器人操作学习的综合工作流程 | 2026-08-31 |
| 73 | HEX Open-X-Humanoid | 338 | 19 | Python | 1 | HEX is a whole-body vision-language-action framework for full-sized humanoid robots. HEX 是一个用于全尺寸人形机器人的全身视觉-语言-动作框架。 | 2026-10-04 |
| 74 | SIMPLE physical-superintelligence-lab | 332 | 29 | Python | 3 | [CoRL'26] Welcome to SIMPLE, a full-stack simulation environment for humanoid loco-manipulation, built on AMO/SONIC, with integrated support for foundation models such as Psi0, Pi05, GR00T, DreamZero, Cosmos3 and more. | 2026-09-10 |
| 75 | HumanoidAgents HumanoidAgents | 325 | 33 | Python | 1 | Humanoid Agents: Platform for Simulating Human-like Generative Agents人形代理：模拟类人生成代理的平台 | 2024-10-14 |
| 76 | ihmc-open-robotics-software ihmcrobotics | 325 | 110 | Java | 1 | 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.机器人软件具有腿式运动算法和基于动量的优化控制器核心。世界级机器人的支持软件，包括人形、跑鸟、外骨骼、机甲等。 | 2026-10-07 |
| 77 | PhysHSI InternRobotics | 321 | 30 | Python | 8 | Official implementation of the paper: "PhysHSI: Towards a Real-World Generalizable and Natural Humanoid-Scene Interaction System"论文正式实现：《PhysHSI: Towards a Real-World Generalized and Natural Humanoid-Scene Interaction System》 | 2025-10-14 |
| 78 | MoRE TeleHuman | 319 | 22 | Python | 6 | Official PyTorch Implementation of Paper -- "MoRE: Mixture of Residual Experts for Humanoid Lifelike Gaits Learning on Complex Terrains"论文的官方 PyTorch 实现——“MoRE：复杂地形上人形逼真步态学习的残差专家混合” | 2025-11-11 |
| 79 | UFO Roboparty | 306 | 32 | Python | 3 | An open-source unsupervised RL framework for humanoid control with FB/TeCH training, robot-aware motion import, and real-world teleoperation.一个开源无监督 RL 框架，用于人形控制，具有 FB/TeCH 训练、机器人感知运动导入和现实世界远程操作。 | 2026-09-07 |
| 80 | booster_gym BoosterRobotics | 305 | 55 | Python | 3 | Booster Gym is a reinforcement learning (RL) framework designed for humanoid robot locomotion developed by Booster Robotics.Booster Gym 是由 Booster Robotics 开发的专为人形机器人运动而设计的强化学习 (RL) 框架。 | 2025-12-23 |
| 81 | VisualMimic visualmimic | 301 | 5 | Python | 1 | [arXiv 2025] VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation[arXiv 2025] VisualMimic：通过运动跟踪和生成进行视觉人形局部操纵 | 2025-10-03 |
| 82 | humanoid_skateboarding TeleHuman | 297 | 21 | Python | 1 | [RSS 2026] "HUSKY: Humanoid Skateboarding System via Physics-Aware Whole-Body Control"[RSS 2026] “HUSKY：通过物理感知全身控制的人形滑板系统” | 2026-05-10 |
| 83 | isaac_berkeley_humanoid HybridRobotics | 294 | 32 | Python | 3 | 2024-10-12 | |
| 84 | KungFuAthleteBot NPCLEI | 293 | 27 | Python | 9 | A highly dynamic martial arts motion dataset (848 samples, Ground/Jump subsets) for humanoid robots, with GMR retargeting, height adjustment, and RL training pipeline (PPO & FastSAC) for Unitree G1, featuring fall recovery and sim-to-real deployment.用于人形机器人的高动态武术运动数据集（848 个样本、地面/跳跃子集），具有 GMR 重定向、高度调整和 Unitree G1 的 RL 训练管道（PPO 和 FastSAC），具有跌倒恢复和模拟到真实部署的功能。 | 2026-09-16 |
| 85 | Rigify-To-Unity AlexLemminG | 286 | 66 | Python | 4 | Converts Rigify rig to Humanoid compatible将 Rigify 装备转换为 Humanoid 兼容 | 2021-02-01 |
| 86 | ScaleBFM zengweishuai | 280 | 15 | Python | 0 | The official implementation of the paper "Scaling Behavior Foundation Model for Humanoid Robots"论文《Scaling Behaviour Foundation Model for Humanoid Robots》正式实现 | 2026-07-25 |
| 87 | lipm_walking_controller stephane-caron | 270 | 77 | C++ | 0 | Walking controller for humanoid robots based on inverted pendulum tracking基于倒立摆跟踪的仿人机器人行走控制器 | 2023-08-11 |
| 88 | lerobot-humanoid huggingface | 258 | 26 | N/A | 0 | 2026-08-10 | |
| 89 | g1_spinkick_example mujocolab | 253 | 21 | Python | 0 | Train a Unitree G1 humanoid to perform a double spin kick using mjlab使用 mjlab 训练 Unitree G1 人形机器人执行双旋转踢 | 2026-02-21 |
| 90 | UHC ZhengyiLuo | 252 | 25 | Python | 2 | Official Implementation of the Universal Humanoid Controller in Mujoco. Supports Kinpoly (NeurIPS 2021) and EmbodiedPose (NeurIPS 2022). 通用人形控制器在 Mujoco 的正式实施。支持 Kinpoly (NeurIPS 2021) 和 EmbodiedPose (NeurIPS 2022)。 | 2024-02-24 |
| 91 | InstinctMJ project-instinct | 251 | 29 | Python | 1 | mjlab-native port of InstinctLab for humanoid RL and Project-Instinct workflows.mjlab-InstinctLab 的本机端口，用于人形 RL 和 Project-Instinct 工作流程。 | 2026-09-07 |
| 92 | Awesome-Embodied-AI wadeKeith | 251 | 18 | Python | 1 | Curated embodied AI list: surveys, VLA models, datasets, simulators, humanoids, robot learning, and safety resources.精心策划的具体人工智能列表：调查、VLA 模型、数据集、模拟器、类人机器人、机器人学习和安全资源。 | 2026-10-07 |
| 93 | EgoHumanoid OpenDriveLab | 248 | 10 | Python | 3 | [RSS 2026] The first framework enabling humanoid robots to learn whole-body loco-manipulation from egocentric human demos[RSS 2026] 第一个框架使人形机器人能够从以自我为中心的人类演示中学习全身局部操纵 | 2026-06-06 |
| 94 | PHUMA DAVIAN-Robotics | 247 | 19 | Python | 5 | Code for "PHUMA: Physically Reliable Humanoid Locomotion Dataset" (CoRL 2026)Error 500 (Server Error)!!1500.That’s an error.There was an error. Please try again later.That’s all we know. | 2026-09-30 |
| 95 | trackerLab Renforce-Dynamics | 246 | 14 | Python | 2 | TrackerLab is a cutting-edge modular framework for humanoid motion retargeting, trajectory tracking, and skill-level control, built on top of IsaacLab.TrackerLab 是一个尖端的模块化框架，用于人形运动重定向、轨迹跟踪和技能水平控制，建立在 IsaacLab 之上。 | 2025-12-31 |
| 96 | human-humanoid-tools Roboparty | 243 | 28 | Python | 1 | 2026-09-24 | |
| 97 | smooth-humanoid-locomotion zixuan417 | 241 | 12 | Python | 2 | [IROS 2025] Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies[IROS 2025] 通过 Lipschitz 约束策略学习平滑的人形运动 | 2025-06-16 |
| 98 | Humanoid evyatarmeged | 240 | 25 | JavaScript | 8 | Node.js package to bypass CloudFlare's anti-bot JavaScript challengesNode.js 包可绕过 CloudFlare 的反机器人 JavaScript 挑战 | 2023-05-21 |
| 99 | AdaMimic InternRobotics | 239 | 16 | Python | 9 | [ICRA 2026 Oral] Official implementation of "Towards Adaptable Humanoid Control via Adaptive Motion Tracking"【ICRA 2026 Oral】《Towards Adaptable Humanoid Control via Adaptive Motion Tracking》正式落地 | 2025-10-17 |
| 100 | Alexbot Alexhuge1 | 238 | 35 | C | 5 | 一个全开源低成本的双足机器人（2万元（$3000））A Fully Opensourced Humanoid Robot with only $3000 | 2025-03-18 |
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