beyondmimic

A plug-and-play deploy framework for robots. Just deploy, just do.

NVIDIA Isaac Lab / Isaac Sim task: train Unitree G1 humanoid to run and jump obstacle-course hurdles. Hierarchical RL with AMP locomotion, frozen BeyondMimic motion tracker (nepher-ai/humanoid-g1-tracking), and PPO high-level run/jump switcher. Clips from Hugging Face bones-studio/seed. skrl. Gym: Nepher-G1-Run, Jump, RunJumpHL.

RPO_IsaacLab是面向 RPO 双足机器人的强化学习运动控制训练平台，基于 NVIDIA Isaac Lab 和 RSL-RL 构建。提供从动作捕捉重定向到策略仿真验证、再到实机部署的完整管线——支持行走、舞蹈、跑酷、跌倒恢复等多种类人运动技能训练。