Alternatives and similar repositories for humanoid-control

Users that are interested in humanoid-control are comparing it to the libraries listed below

• bridgedp / hunter_bipedal_control

  View on GitHub
  An open source bipedal robot control framework, based on non-linear MPC and WBC, tailered for EC-hunter80-v01 bipedal robot.
  ☆560May 20, 2024Updated last year
• qiayuanl / legged_control

  View on GitHub
  NMPC, WBC, state estimation, and sim2real framework for legged robots based on OCS2 and ros-controls
  ☆1,580Feb 13, 2025Updated last year
• DRCL-USC / Hector_Simulation

  View on GitHub
  Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
  ☆514Jan 13, 2025Updated last year
• humarobot / Hector_Simulation

  View on GitHub
  Simulation Software for HECTOR Humanoid Robot (ROS/MATLAB)
  ☆85Dec 26, 2023Updated 2 years ago
• leggedrobotics / ocs2

  View on GitHub
  Optimal Control for Switched Systems
  ☆1,279Dec 30, 2025Updated last month
• matheecs / ocs2_legged_robot_notes

  View on GitHub
  ☆189Oct 27, 2022Updated 3 years ago
• roboterax / humanoid-gym

  View on GitHub
  Humanoid-Gym: Reinforcement Learning for Humanoid Robot with Zero-Shot Sim2Real Transfer https://arxiv.org/abs/2404.05695
  ☆1,849Jan 26, 2025Updated last year
• skywoodsz / qm_control

  View on GitHub
  Quadruped manipulator controller using model predictive control and whole body control based on OCS2
  ☆310Mar 28, 2025Updated 10 months ago
• silvery107 / rl-mpc-locomotion

  View on GitHub
  Deep RL for MPC control of Quadruped Robot Locomotion
  ☆912Jul 18, 2025Updated 6 months ago
• zitongbai / bipedal_control

  View on GitHub
  Bipedal robot control using ocs2
  ☆115Jul 1, 2025Updated 7 months ago
• chengxuxin / expressive-humanoid

  View on GitHub
  [RSS 2024]: Expressive Whole-Body Control for Humanoid Robots
  ☆479Mar 30, 2025Updated 10 months ago
• engineai-robotics / engineai_legged_gym

  View on GitHub
  ☆489Sep 13, 2024Updated last year
• hojae-io / ModelBasedFootstepPlanning-IROS2024

  View on GitHub
  Open Source Code for the IROS 2024 Paper
  ☆213Sep 12, 2025Updated 5 months ago
• tryingfly / nabo

  View on GitHub
  Open project for biped robot with c++. Cross OS, cross simulation platform or even real robot.
  ☆89Apr 18, 2024Updated last year
• qiayuanl / legged_perceptive

  View on GitHub
  ☆151Nov 27, 2024Updated last year
• InternRobotics / HIMLoco

  View on GitHub
  Learning-based locomotion control from OpenRobotLab, including Hybrid Internal Model & H-Infinity Locomotion Control
  ☆792May 14, 2024Updated last year
• manumerous / wb_humanoid_mpc

  View on GitHub
  Whole-Body Nonlinear MPC for Realtime Humanoid Loco-Manipulation Planning and Control
  ☆244Dec 27, 2025Updated last month
• loongOpen / OpenLoong-Dyn-Control

  View on GitHub
  Whole-Body Dynamics Control Software Package for Humanoid Robots
  ☆287May 27, 2025Updated 8 months ago
• projectatctu / ocs2_fun

  View on GitHub
  ROS package for controlling Anymal and Spot in Gazebo using the OCS2 toolbox
  ☆48Jun 7, 2024Updated last year
• legubiao / quadruped_ros2_control

  View on GitHub
  ROS2-Control implementations for Quadruped robots, include sim2real
  ☆463Dec 15, 2025Updated last month
• jonyzhang2023 / awesome-humanoid-learning

  View on GitHub
  Humanoid Robots Resources
  ☆853Nov 20, 2025Updated 2 months ago
• robfiras / loco-mujoco

  View on GitHub
  Imitation learning benchmark focusing on complex locomotion tasks using MuJoCo.
  ☆1,329May 30, 2025Updated 8 months ago
• loco-3d / crocoddyl

  View on GitHub
  Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential D…
  ☆1,164Updated this week
• edantec / MPC_benchmark

  View on GitHub
  A collection of MPC walking scripts with various models
  ☆43Feb 5, 2025Updated last year
• zeonsunlightyu / LocomotionWithNP3O

  View on GitHub
  unitree Go2 robot learns locomotion with N-P3O algorithm and HIM alike policy trained by isaacgym
  ☆486Sep 27, 2024Updated last year
• escontra / AMP_for_hardware

  View on GitHub
  Code for "Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions"
  ☆734Jul 17, 2024Updated last year
• iit-DLSLab / DWMPC

  View on GitHub
  A distributed whole-body model predictive control for quadruped robots
  ☆77Apr 22, 2025Updated 9 months ago
• legubiao / ocs2_ros2

  View on GitHub
  ROS2 version of OCS2, refactor with modern-cmake
  ☆141Feb 4, 2026Updated last week
• ShuoYangRobotics / A1-QP-MPC-Controller

  View on GitHub
  An open source implementation of MIT Cheetah 3 controllers
  ☆802Dec 5, 2022Updated 3 years ago
• psrobotics / bipedal_pointfoot_mpc_ctr

  View on GitHub
  ☆22Jun 12, 2023Updated 2 years ago
• LeCAR-Lab / dial-mpc

  View on GitHub
  Official implementation for the paper "Full-Order Sampling-Based MPC for Torque-Level Locomotion Control via Diffusion-Style Annealing". …
  ☆937May 28, 2025Updated 8 months ago
• LeCAR-Lab / human2humanoid

  View on GitHub
  [IROS 2024] Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation. [CoRL 2024] OmniH2O: Universal and Dexterou…
  ☆950Feb 21, 2025Updated 11 months ago
• isri-aist / BaselineWalkingController

  View on GitHub
  Humanoid walking controller with various baseline methods
  ☆155Oct 27, 2025Updated 3 months ago
• leggedrobotics / legged_gym

  View on GitHub
  Isaac Gym Environments for Legged Robots
  ☆2,682May 29, 2025Updated 8 months ago
• rocketman123456 / pinocchio_tutorial

  View on GitHub
  ☆22Dec 16, 2024Updated last year
• fan-ziqi / rl_sar

  View on GitHub
  Simulation verification and physical deployment of robot reinforcement learning algorithms, suitable for quadruped robots, wheeled robots…
  ☆1,129Nov 19, 2025Updated 2 months ago
• stevenjj / dcm_matlab

  View on GitHub
  Implementation of continuous double support DCM trajectories from "Three-dimensional bipedal walking control based on divergent componen…
  ☆14Mar 20, 2020Updated 5 years ago
• zixuan417 / smooth-humanoid-locomotion

  View on GitHub
  [IROS 2025] Learning Smooth Humanoid Locomotion through Lipschitz-Constrained Policies
  ☆222Jun 16, 2025Updated 7 months ago
• tbai-lab / tbai_ros

  View on GitHub
  Towards better athletic intelligence
  ☆176Jan 31, 2026Updated last week