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🚀 ASAP is now FULLY open-source! 🚀 ✅ Humanoid RL motion tracking & delta actions ✅ Motion retargeting to any humanoid ✅ ASAP Benchmark motions + pretrained policies ✅ Sim2Sim & Sim2Real ready — run ASAP in sim or on your G1 robot! 🔗 🎥👇

Tairan He

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39,412 views • 11 months ago •via X (Twitter)

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New open-source library speeds up whole-body imitation learning. Train the policy below in under 20 minutes ⬇️ LocoMuJoCo2 brings biomechanics and humanoid robotics into one clean, high-speed benchmark. Built for researchers who want to train smarter and faster. What it offers ✅ 22K+ motion trajectories per humanoid model ✅ Supports both MuJoCo and MJX ✅ JAX-based PPO, GAIL, AMP, DeepMimic implementations ✅ Plug-and-play robot2robot retargeting pipeline Whether you’re building humanoids or studying human motion, this toolkit saves you weeks of setup. Github: Thank you, Firas Al-Hafez for sharing this great work!

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