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A curated list of resources relevant to humanoid robots learning.

Given the similarities between the locomotion of humanoid robots and bipedal robots, we have included some works on bipedal locomotion for reference.

In recent research, I have noticed an increasing convergence between humanoid robotics and physics-based animation. I believe this is a highly promising direction for the development of humanoid robots. Therefore, I will be updating this repository with animation works that I find beneficial for humanoid robotics.

Robot models

Bipeds

NameMakerFormatsLicenseMeshesInertiasCollisions
BoltODRIURDFBSD-3-Clause✔️✔️✔️
Cassie (MJCF)Agility RoboticsMJCFMIT✔️✔️✔️
Cassie (URDF)Agility RoboticsURDFMIT✔️✔️✔️
SprypedBenjamin BokserURDFGPL-3.0✔️✔️✔️
UpkieTast's RobotsURDFApache-2.0✔️✔️✔️
HectorUSC DRCLURDFBSD-3-Clause✔️✔️✔️
SA01EngineAIURDF & MJCF:heavy_minus_sign:✔️✔️✔️

Humanoids

NameMakerFormatsLicenseMeshesInertiasCollisions
Atlas DRC (v3)Boston DynamicsURDFBSD-3-Clause✔️✔️✔️
Atlas v4Boston DynamicsURDFMIT✔️✔️✔️
DigitAgility RoboticsURDF✖️✔️✔️✔️
iCubIITURDFCC-BY-SA-4.0✔️✔️✔️
JAXONJSKCOLLADA, URDF, VRMLCC-BY-SA-4.0✔️✔️✔️
JVRC-1AISTMJCF, URDFBSD-2-Clause✔️✔️✔️
NAOSoftBank RoboticsURDF, XacroBSD-3-Clause:heavy_minus_sign:✔️✔️
Robonaut 2NASA JSC RoboticsURDFNASA-1.3✔️✔️✔️
RomeoAldebaran RoboticsURDFBSD-3-Clause✔️✔️✔️
SigmaBanRhobanURDFMIT✔️✔️✔️
TALOSPAL RoboticsURDFLGPL-3.0✔️✔️✔️
ValkyrieNASA JSC RoboticsURDF, XacroNASA-1.3✔️✔️✔️
WALK-MANIITXacroBSD-3-Clause✔️✔️✔️
H1UnitreeURDF & MJCF, USDBSD-3-Clause✔️✔️✔️
G1UnitreeURDF & MJCFBSD-3-Clause✔️✔️✔️
H1-2 (preview)UnitreeURDF & MJCF, Simplified URDFBSD-3-Clause✔️✔️✔️

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