supermimic

A curated collection of SuperMimic implementations, extensions, demos, and resources.

Independent reproduction of SuperMimic (arXiv:2610.28480) on mjlab/MuJoCo Warp, written from the paper before the official release. For the authors' code see HybridRobotics/supermimic. Kept as a record: experiment log, full BONES-SEED results, checkpoint.

SuperMimic-UniLab: An Independent reproduction of SuperMimic on UniLab for whole-body humanoid motion tracking.

Whole-body motion tracking for the Unitree G1 in about 3 minutes on one GPU.

Whole-body motion tracking for the Unitree G1 in under 3 minutes on average on one GPU: return 0.82 with 0/40 clips failed, held from 2.74 min (mean of 15 seeds, range 2.21-3.61, fine checkpoints), 11.87 it/s (world model + Muon + overlapped CUDA streams, mjlab)

SuperMimic whole-body motion tracking for muscle-driven humanoids on mjlab.

LEAP Hand in-hand rotation in mjlab: cube yaw, SO(3) reorientation and palm-down fingertip rotation of 22 objects, trained with PPO and SuperMimic-style world-model RL. Checkpoints and real-robot videos.

A basic robot locomotion library built on Isaaclab. It includes **Velocity (velocity tracking), Mimic (beyond mimic, mimic-wm), and AMP (Adversarial Motion Priors)** tasks.

Train AMP in 30 minutes on 1 RTX 5090: Unitree G1 locomotion and get-up through a differentiable world model (JAX + MuJoCo Warp)

Reference-Free Differentiable World Model RL (SuperMimic) for Humanoid Loco-Manipulation Whole-Body Control on Unitree G1 (Isaac Lab)

RPO 23-DoF 跑步与后空翻仿真实验，基于 Motphys/Uni-SuperMimic；含演示、训练配置及框架与数据出处。

SuperMimic-mini: teacher-assisted G1 tracking + WM/BPTT negative study (RTX 2060)

Community derivative of CuboiLeo/SuperMimic-Reproduced focused on low-VRAM training safeguards, reproducible engineering, and monitoring.

Video-to-G1 dance in mjlab with SuperMimic fine-tuning on RTX 3050 4GB; reproducible tools, results and Chinese beginner tutorial.