Alternatives and similar repositories for HiFAR

Users that are interested in HiFAR are comparing it to the libraries listed below

• IrisLi17 / legged_stand_dance
  ☆58Updated last year
• marmotlab / decaying_action_priors
  Official implementation of "DecAP: Decaying Action Priors for Accelerated Learning of Torque-Based Legged Locomotion Policies"
  ☆38Updated 3 months ago
• BeingBeyond / BumbleBee
  From Experts to a Generalist: Toward General Whole-Body Control for Humanoid Robots (NeurIPS 2025, Spotlight)
  ☆63Updated 3 months ago
• HybridRobotics / SymmLoco
  ☆57Updated last year
• cjianli / Humanoid_robot_deployment
  G1 real world deployment pipeline: 1.sim2sim 2. Real robot deployment
  ☆24Updated 9 months ago
• LeCAR-Lab / SPI-Active
  Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"
  ☆159Updated last month
• LeCAR-Lab / wococo
  ☆137Updated last year
• shanhhe / AMP_for_g1
  Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions" on unitree G1
  ☆72Updated 5 months ago
• martius-lab / wasabi
  Repository for our paper: Learning Agile Skills via Adversarial Imitation of Rough Partial Demonstrations Proceedings of the 6th Conferen…
  ☆102Updated last year
• aCodeDog / genesis_legged_gym
  ☆62Updated 9 months ago
• marmotlab / APEX
  Official implementation of "APEX: Action Priors Enable Efficient Exploration for Skill Imitation on Articulated Robots"
  ☆47Updated last month
• engineai-robotics / engineai_rl_workspace
  ☆77Updated 4 months ago
• zitongbai / motion_retarget
  Motion retarget for legged robots.
  ☆37Updated 4 months ago
• project-instinct / instinct_rl
  ☆55Updated this week
• shiki-ta / Humanoid-Terrain-Bench
  ☆72Updated 4 months ago
• z-taylcr7 / Adaptivity
  Personal legged_gym Unitree A1 implementation for paper 'Reinforcement Learning for Versatile, Dynamic, and Robust Bipedal Locomotion Con…
  ☆19Updated last year
• hojae-io / LearningHumanoidArmMotion-RAL2025-Code
  Open Source Code for RA-L 2025 Paper
  ☆58Updated 3 months ago
• NathanWu7 / HumanoidVerse3
  An all-in-one project for humanoid robots from locomotion to motion tracking.
  ☆45Updated 4 months ago
• Renforce-Dynamics / beyondAMP
  beyondAMP provides a unified pipeline to integrate Adversarial Motion Priors (AMP) into any IsaacLab robot setup, with minimal modificati…
  ☆182Updated 2 weeks ago
• HybridRobotics / DiffuseLoco
  Source code for the paper DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets
  ☆174Updated 9 months ago
• DRCL-USC / ogmp_isaac
  Codebase for Oracle Guided Multi-mode Policies in Isaac Lab
  ☆18Updated last month
• HomerIsAFool / G1-retarget
  Use PHC framework to retarget motion from AMASS dataset into unitree G1 style
  ☆40Updated 7 months ago
• sri299792458 / Barrier-Loco
  ☆17Updated 4 months ago
• InternRobotics / AdaMimic
  [arxiv 2025] Official implementation of "Towards Adaptable Humanoid Control via Adaptive Motion Tracking"
  ☆190Updated 3 months ago
• Humanoid-SkillBlender / SkillBlender
  Official implementation of SkillBlender: Towards Versatile Humanoid Whole-Body Loco-Manipulation via Skill Blending
  ☆88Updated 5 months ago
• FFTAI / Wiki-GRx-MJCF
  This repository provide a tool to convert robot urdf file to mjcf.
  ☆71Updated 5 months ago
• liuyufei-nubot / HumanoidDreamWaq
  ☆51Updated last week
• project-instinct / robot-motion-editor
  A web-based tool that edits the robot motion file in instinctlab ecosystem
  ☆33Updated last week
• SZU-AdvTech-2023 / 055-AMP-Adversarial-Motion-Priors-for-Stylized-Physics-Based-Character-Control
  ☆63Updated last year
• arclab-hku / bipedal_locomotion_for_quadrupedal_robots
  ☆31Updated 5 months ago