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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.
Isaac Lab API, powered by MuJoCo-Warp, for RL and robotics research
mjlab-native port of InstinctLab for humanoid RL and Project-Instinct workflows.
In-hand reorientation RL: PPO training and sim-to-real deployment for the Wuji Hand, built on mjlab.
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)