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humanoidrobots.training

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Duke University General Robotics Lab · biped

Duke Humanoid v1

Open-source 10-DOF research biped for energy-efficient RL locomotion exploiting passive dynamics.

Frames · Duke Humanoid v1

2 items · credit and license on each
  • Duke Humanoid v1 legs, photo sequence of a walking gait
    From the DukeHumanoidv1 README.General Robotics Lab, Duke University (DukeHumanoidv1) · MIT · source
  • The Duke Humanoid: Design and Control For Energy Efficient Bipedal Locomotion Using Passive DynamicsGeneral Robotics Lab · official embed · source

Provenance

No browser-ready model packaged yet.

The description is public, but nobody has pinned a commit and checked it compiles in MuJoCo WASM. Clone it and drop the folder on the viewport above (MJCF, or URDF with STL/OBJ meshes). Files stay in your tab.

Policies listed for Duke Humanoid v1

  • walk, velocity tracking (baseline)

    Isaac Gym + rl_games (legged_env) · ONNX published; contract not yet reproduced and tested here

    source

  • walk, energy-efficient passive-dynamics policy

    Isaac Gym + rl_games (legged_env) · ONNX published; contract not yet reproduced and tested here

    source

  • walk (training checkpoints)

    Isaac Gym + rl_games · not replayed in the tab

    source

Train on GPUs

mjlab ships no stock task for Duke Humanoid v1. The training page gives you the pinned model and the steps to write a robot config.

Build the job →