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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 | 3.2k | 566 | Python | 297 | Dimensional is the agentic operating system for physical space. Vibecode 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。 Vibe 用自然语言对人形机器人、四足动物、无人机和其他硬件平台进行编码，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。 | 2026-05-06 |
| 2 | Psi0 physical-superintelligence-lab | 2.5k | 56 | Python | 0 | [RSS26'] Welcome to Psi-Zero, a Humanoid VLA towards Universal Humanoid Intelligence.[RSS26'] 欢迎来到 Psi-Zero，这是一个迈向通用人形智能的人形 VLA。 | 2026-05-05 |
| 3 | openarm enactic | 2.4k | 262 | MDX | 14 | 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。 | 2026-05-04 |
| 4 | awesome-humanoid-robot-learning YanjieZe | 2.2k | 127 | Python | 1 | A Paper List for Humanoid Robot Learning.人形机器人学习论文列表。 | 2026-04-07 |
| 5 | GMR YanjieZe | 2.1k | 368 | Python | 69 | [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 |
| 6 | ASAP LeCAR-Lab | 2.0k | 194 | Python | 61 | [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 |
| 7 | humanoid-gym roboterax | 2.0k | 248 | 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 |
| 8 | GR00T-WholeBodyControl NVlabs | 1.8k | 226 | Python | 25 | 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 | 2026-05-01 |
| 9 | roboto_origin Roboparty | 1.7k | 234 | Python | 1 | 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 | 2026-04-30 |
| 10 | ProtoMotions NVlabs | 1.6k | 195 | Python | 21 | 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。 | 2026-05-03 |
| 11 | awesome-robot-descriptions robot-descriptions | 1.5k | 142 | 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） | 2026-04-13 |
| 12 | xr_teleoperate unitreerobotics | 1.4k | 252 | Python | 27 | 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。 | 2026-04-30 |
| 13 | Berkeley-Humanoid-Lite HybridRobotics | 1.3k | 200 | Python | 9 | Codebase for Berkeley Humanoid LiteBerkeley Humanoid Lite 代码库 | 2026-03-10 |
| 14 | rl_sar fan-ziqi | 1.3k | 164 | C++ | 16 | 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” | 2026-04-02 |
| 15 | PHC ZhengyiLuo | 1.2k | 125 | 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 |
| 16 | LearningHumanoidWalking rohanpsingh | 1.1k | 133 | Python | 17 | 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 |
| 17 | human2humanoid LeCAR-Lab | 993 | 95 | 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 |
| 18 | dial-mpc LeCAR-Lab | 965 | 98 | Python | 14 | 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 |
| 19 | awesome-humanoid-learning jonyzhang2023 | 914 | 40 | N/A | 0 | Humanoid Robots Resources人形机器人资源 | 2026-03-16 |
| 20 | poppy-humanoid poppy-project | 895 | 267 | Jupyter Notebook | 5 | 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 |
| 21 | HumanShaders matmadness | 854 | 62 | 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 | 2026-03-04 |
| 22 | humanplus MarkFzp | 842 | 122 | 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 |
| 23 | PBHC TeleHuman | 799 | 100 | 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 | 2025-11-13 |
| 24 | HOPEJr TheRobotStudio | 792 | 96 | C# | 12 | HOPEJr_open-source_DIY_Humanoid_Robot_with_dexterous_handsHOPEJr_开源_DIY_Humanoid_Robot_with_dterous_hands | 2026-05-04 |
| 25 | TWIST2 amazon-far | 789 | 82 | Python | 34 | [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 | 2025-12-03 |
| 26 | VideoMimic hongsukchoi | 784 | 60 | Python | 6 | 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 |
| 27 | FAST_LIO_LOCALIZATION_HUMANOID deepglint | 768 | 72 | C++ | 16 | Localization by LiDAR for Humanoid(like Unitree G1) 人形机器人的 LiDAR 定位（如 Unitree G1） | 2026-01-06 |
| 28 | zeroth-bot zeroth-robotics | 760 | 120 | N/A | 3 | 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 |
| 29 | metamotivo facebookresearch | 758 | 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 |
| 30 | humanoid-bench carlosferrazza | 755 | 119 | Python | 22 | 2025-09-18 | |
| 31 | asimov-v0 asimovinc | 722 | 79 | N/A | 0 | v0 of Asimov, an open-source humanoid robot开源人形机器人阿西莫夫 v0 | 2026-01-28 |
| 32 | Rofunc Skylark0924 | 708 | 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 |
| 33 | video2robot AIM-Intelligence | 670 | 81 | Python | 4 | 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 |
| 34 | LATENT GalaxyGeneralRobotics | 618 | 35 | Python | 1 | 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 |
| 35 | HoST InternRobotics | 572 | 67 | Python | 20 | [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 |
| 36 | 1xgpt 1x-technologies | 557 | 48 | Python | 6 | world modeling challenge for humanoid robots人形机器人世界建模挑战赛 | 2024-11-08 |
| 37 | OpenHomie InternRobotics | 555 | 51 | C++ | 1 | 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。 | 2025-09-01 |
| 38 | BFM-Zero LeCAR-Lab | 535 | 45 | 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 | 2026-03-11 |
| 39 | Improved-3D-Diffusion-Policy YanjieZe | 527 | 34 | 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 |
| 40 | Hector_Simulation DRCL-USC | 522 | 131 | 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 |
| 41 | asimov-v1 asimovinc | 503 | 57 | Shell | 1 | v1 of Asimov, an open-source humanoid robot 开源人形机器人阿西莫夫 v1 | 2026-04-30 |
| 42 | expressive-humanoid chengxuxin | 487 | 44 | 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 |
| 43 | InterMimic Sirui-Xu | 486 | 27 | 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 |
| 44 | hutb OpenHUTB | 480 | 413 | C++ | 152 | 人车模拟器 | 2026-05-04 |
| 45 | RoboJuDo HansZ8 | 454 | 63 | Python | 10 | 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。 | 2026-04-30 |
| 46 | HumanoidVerse LeCAR-Lab | 449 | 30 | Python | 8 | 2025-06-12 | |
| 47 | HoloMotion HorizonRobotics | 430 | 30 | Python | 0 | HoloMotion: A Foundation Model for Whole-Body Humanoid ControlHoloMotion：全身人形控制的基础模型 | 2026-04-14 |
| 48 | humanoid_amp linden713 | 428 | 38 | Python | 10 | Isaac Lab Humanoid AMP for Unitree G1适用于 Unitree G1 的 Isaac Lab 人形 AMP | 2025-10-18 |
| 49 | EasyMotionRecorder neon-izm | 424 | 57 | 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 |
| 50 | humanoid-general-motion-tracking zixuan417 | 405 | 18 | 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 |
| 51 | humanoid-control pocketxjl | 399 | 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 |
| 52 | openclonk openclonk | 389 | 61 | C++ | 17 | 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 |
| 53 | TextOp TeleHuman | 361 | 29 | Python | 1 | 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 |
| 54 | AMO OpenTeleVision | 357 | 20 | Python | 12 | [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 |
| 55 | FALCON LeCAR-Lab | 356 | 45 | Python | 16 | [L4DC 2026] "FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation"[L4DC 2026]“FALCON：学习力自适应人形机车操纵” | 2026-04-09 |
| 56 | PULSE ZhengyiLuo | 353 | 24 | 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 |
| 57 | PLEN2 plenprojectcompany | 335 | 103 | 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 |
| 58 | SMPLSim ZhengyiLuo | 334 | 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 |
| 59 | horus softmata | 326 | 23 | Rust | 6 | 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。 | 2026-04-28 |
| 60 | OpenLoong-Dyn-Control loongOpen | 318 | 63 | 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 |
| 61 | HumanoidAgents HumanoidAgents | 317 | 32 | 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 |
| 62 | soma-retargeter NVIDIA | 316 | 39 | Python | 4 | 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 | 2026-03-25 |
| 63 | ihmc-open-robotics-software ihmcrobotics | 313 | 108 | 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。 | 2026-05-04 |
| 64 | wb_humanoid_mpc manumerous | 299 | 61 | 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 | 2025-12-27 |
| 65 | VisualMimic visualmimic | 288 | 4 | 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 |
| 66 | isaac_berkeley_humanoid HybridRobotics | 282 | 31 | Python | 3 | 2024-10-12 | |
| 67 | PhysHSI InternRobotics | 278 | 26 | 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 |
| 68 | Rigify-To-Unity AlexLemminG | 272 | 61 | Python | 4 | Converts Rigify rig to Humanoid compatible将 Rigify 装备转换为 Humanoid 兼容 | 2021-02-01 |
| 69 | booster_gym BoosterRobotics | 270 | 51 | 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 |
| 70 | lipm_walking_controller stephane-caron | 268 | 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 |
| 71 | MoRE TeleHuman | 259 | 19 | Python | 4 | 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 |
| 72 | UHC ZhengyiLuo | 247 | 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 |
| 73 | WBC-AGILE nvidia-isaac | 245 | 26 | Python | 3 | A Comprehensive Workflow for Humanoid Loco-Manipulation Learning人形机器人操作学习的综合工作流程 | 2026-05-04 |
| 74 | trackerLab Renforce-Dynamics | 241 | 13 | 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 |
| 75 | Humanoid evyatarmeged | 237 | 26 | 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 |
| 76 | g1_spinkick_example mujocolab | 237 | 20 | 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 |
| 77 | pymanoid stephane-caron | 231 | 40 | Python | 0 | Humanoid robotics prototyping environment based on OpenRAVE基于 OpenRAVE 的人形机器人原型环境 | 2024-02-19 |
| 78 | smooth-humanoid-locomotion zixuan417 | 230 | 13 | 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 |
| 79 | pbrs-humanoid se-hwan | 225 | 26 | Python | 3 | 2023-07-08 | |
| 80 | ksim kscalelabs | 225 | 36 | Python | 1 | RL training library for humanoid locomotion and manipulation. Built on top of MuJoCo and JAX.用于人形运动和操作的强化学习训练库。构建于 MuJoCo 和 JAX 之上。 | 2025-10-29 |
| 81 | HumanUP RunpeiDong | 218 | 15 | Python | 0 | [RSS 2025] Learning Getting-Up Policies for Real-World Humanoid Robots[RSS 2025] 学习现实世界人形机器人的起床策略 | 2025-04-14 |
| 82 | AdaMimic InternRobotics | 216 | 15 | Python | 8 | [ICRA 2026] Official implementation of "Towards Adaptable Humanoid Control via Adaptive Motion Tracking"[ICRA 2026] 正式实施“通过自适应运动跟踪实现自适应人形控制” | 2025-10-17 |
| 83 | Alexbot Alexhuge1 | 216 | 33 | 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 |
| 84 | MoCapAct microsoft | 214 | 21 | Python | 2 | A Multi-Task Dataset for Simulated Humanoid Control用于模拟人形控制的多任务数据集 | 2025-03-27 |
| 85 | bipedal-locomotion-framework gbionics | 212 | 46 | C++ | 70 | Suite of libraries for achieving bipedal locomotion on humanoid robots用于在人形机器人上实现双足运动的库套件 | 2026-05-05 |
| 86 | CMUMocap keijiro | 208 | 18 | N/A | 1 | Unity humanoid animations converted from the Carnegie Mellon University Motion Capture Database从卡内基梅隆大学动作捕捉数据库转换而来的 Unity 人形动画 | 2026-02-11 |
| 87 | puppeteer nicklashansen | 207 | 16 | Python | 2 | Code for "Hierarchical World Models as Visual Whole-Body Humanoid Controllers"“作为视觉全身人形控制器的分层世界模型”的代码 | 2025-09-18 |
| 88 | Humanoid-Teleoperation YanjieZe | 204 | 14 | Python | 2 | [IROS 2025] Generalizable Humanoid Manipulation with 3D Diffusion Policies. Part 2: Humanoid Teleoperation[IROS 2025] 使用 3D 扩散策略的通用人形操纵。第 2 部分：人形远程操作 | 2025-02-19 |
| 89 | chek-ego-miner chekdata | 202 | 13 | Rust | 4 | Crowdsource EGO robot data capture, contribution, and public-safe edge-host bring-up.众包 EGO 机器人数据捕获、贡献和公共安全边缘主机启动。 | 2026-05-04 |
| 90 | PHUMA DAVIAN-Robotics | 199 | 12 | Python | 5 | Code for "PHUMA: Physically-Grounded Humanoid Locomotion Dataset"“PHUMA：物理接地人形运动数据集”的代码 | 2026-02-08 |
| 91 | KungFuAthleteBot NPCLEI | 198 | 15 | Python | 6 | a kungfu Dataset for humanoid robot人形机器人的功夫数据集 | 2026-04-17 |
| 92 | Awesome-Embodied-AI wadeKeith | 197 | 8 | Python | 0 | 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。 | 2026-04-17 |
| 93 | DreamControl GenRobo | 196 | 15 | Python | 4 | Code for DreamControl: Human-inspired Whole-Body Humanoid Control for Scene Interaction via Guided DiffusionDreamControl 代码：受人类启发的全身人形控制，通过引导扩散实现场景交互 | 2026-04-07 |
| 94 | AMS OpenDriveLab | 194 | 2 | Python | 2 | [ICRA 2026] Agility Meets Stability: Versatile Humanoid Control with Heterogeneous Data[ICRA 2026] 敏捷性与稳定性：具有异构数据的多功能人形控制 | 2026-03-06 |
| 95 | RUKA ruka-hand | 193 | 25 | Python | 4 | Official implementation for the project RUKA: Rethinking the Design of Humanoid Hands with Learning. Project Website: https://ruka-hand.github.io RUKA 项目的正式实施：通过学习重新思考人形手的设计。项目网站：https://ruka-hand.github.io | 2025-08-11 |
| 96 | InternHumanoid InternRobotics | 182 | 4 | Python | 1 | A versatile, all-in-one toolbox for whole-body humanoid robot control.一款用于全身人形机器人控制的多功能一体化工具箱。 | 2025-10-10 |
| 97 | BotBrain botbotrobotics | 182 | 36 | TypeScript | 1 | 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。 | 2026-04-25 |
| 98 | robotics adam-maj | 180 | 8 | Jupyter Notebook | 0 | A deep dive on the history of robotics and the future of humanoids深入探讨机器人的历史和人形机器人的未来 | 2024-12-16 |
| 99 | GR00T-VisualSim2Real NVlabs | 180 | 15 | Python | 0 | 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 |
| 100 | gentle-humanoid Axellwppr | 179 | 10 | Python | 2 | GentleHumanoid: Whole body Motion Tracking with Compliance - Inference and DeployGentleHumanoid：符合合规性的全身运动跟踪 - 推理和部署 | 2025-12-17 |
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