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lzyang2000/morphmimic

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    Very new: it was created 2 days ago. Wait a little before installing it.

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    Apache-2.0: you can use it for free, also in a commercial product. Keep the licence notice.

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What it is

A research codebase for training humanoid motion-tracking policies by backpropagating through a learned differentiable world model, with a single model shared across the Unitree G1, AgiBot X2 Ultra and Booster T2 robots in MuJoCo Warp via mjlab. Includes data conversion…

Who it's for

Robotics and reinforcement learning researchers training humanoid motion-tracking policies across multiple robot morphologies

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56From 0 to 56 stars between 23 Oct 2026 and 25 Oct 2026.

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