HumanoidVerse

An open-source, multi-simulator humanoid robot learning framework from CMU's LeCAR Lab.

HumanoidVerse is an open-source humanoid-robot learning framework from Carnegie Mellon University's LeCAR Lab (Guanya Shi's group). It decouples the simulator, the task, and the robot from one another: the same task and training code can switch between different simulation backends such as IsaacGym, Isaac Sim, and Genesis, and can also switch between different humanoid robot bodies. That makes “sim-to-sim” validation convenient — training in one simulator and testing in another — catching a policy that has overfit to one particular physics engine before it ever gets transferred to a real robot. The same lab's ASAP (Aligning Simulation and Real Physics for learning Agile whole-body Skills) is built on top of it.

ExampleTrain a Unitree G1's motion-tracking policy in IsaacGym using HumanoidVerse, then switch to Genesis to run a sim-to-sim check.

Related

ASAP · Sim-to-Sim Transfer · Sim-to-Real Transfer · Isaac Gym · Genesis · Holosoma (Amazon FAR humanoid RL framework)

Sources

LeCAR-Lab/HumanoidVerse GitHub

As of

2025