Visual Imitation Enables Contextual Humanoid Control. CoRL 2025, Best Student Paper Award.
[NeurIPS 2020] Official PyTorch Implementation of "Residual Force Control for Agile Human Behavior Imitation and Extended Motion Synthesis". NeurIPS 2020.
Simple-to-use-and-extend implementation of the DeepMimic Approach using the MuJoCo Physics Engine and Stable Baselines 3, mainly for locomotion tasks.
Converting .bvh files to DeepMimic animations
Contains a list of projects which convert animations to a format DeepMimic can understand
Unitree H1 humanoid walking via DeepMimic-style imitation learning — MuJoCo MJX + JAX, 4096 parallel envs, 9000 FPS, full 19-DOF control against real human mocap data
A humanoid that learns to backflip. Custom 2D rigid-body physics engine in C++, PPO written from scratch in PyTorch, DeepMimic-style imitation learning.
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