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humanoidrobots.training

Starting viewport

Unitree H1 walking in your tab on its maker's published policy. MuJoCo physics, ONNX inference, no install.

WASD or drag the pad to steer · Q E turn · P push · Drag to orbit · drop a URDF or MJCF on the viewport

Two tiers, one model file

01 The tab

Free, instant

Physics
MuJoCo 3.14, official WebAssembly build
Render
three.js, geoms read from the compiled model
Input
MJCF from the model's repo, or your own URDF/MJCF
Policies
3 published walking policies replayed with onnxruntime-web, contract copied from each maker's sim2sim script
You can
steer a walking policy, pose joints, push, go limp, record WebM
Limits
one robot, CPU, single thread; inference only, no learning

02 Cloud GPUs

Queued on request

Physics
MuJoCo Warp on NVIDIA GPUs
Training
mjlab (Isaac Lab API) for locomotion and tracking; Newton for contact-rich work
Scale
thousands of parallel environments
Output
policy checkpoint, obs/action contract, eval video
Limits
does not run in a browser; needs CUDA via Warp

mjlab and Newton are GPU frameworks built on NVIDIA Warp. They do not run in a tab and this site does not pretend they do. What connects the tiers is the file: both load the same MJCF, so a policy trained on GPUs replays against the same model you poke here. Build a training job.

Instruments

policies.humanoidrobots.trainingPolicy zoo →67 policies · 3 run in the tabEvery published policy for an open robot: task, framework, license, obs/action contract, source.datasets.humanoidrobots.trainingDatasets →24 datasets · links checkedLeRobot arms, Unitree G1/H1, AgiBot World, DROID, Open X-Embodiment, LIBERO, with exact licenses.bench.humanoidrobots.trainingBench →11/15 hold a stand · 2026-09-24Every sim model loaded headless and held for 10 s under one controller. Method and raw JSON.

Flagship open platform · Hyperspawn's own robot · featured, not ranked

CAD render of the full Dropbear humanoid standing, open printed frame with yellow accent parts

Hyperspawn · Hyperspawn

● hyperspawn/dropbear

Hyperspawn Robotics

Train Dropbear.

Full-size open-source humanoid from Hyperspawn and Pointblank: FDM-printed structure on 20x20 aluminium extrusion, MyActuator CAN actuators, an ESP32 node per limb and a Jetson Orin brain. CAD, BOM, printables, firmware, URDF/MJCF/USD and simulation walking policies are public; a pre-assembled kit is on preorder.

Sim model
Hyperspawn/dropbear_mjcf · 180 MB
Published policies
2 in the zoo
Stand-hold bench
fell · 2026-09-24
DOF
32
▸ Open in the tabBuild a training jobBuild the hardwareGitHub

Robots with an open train verb · 48

Bring your own →
RobotMakerBrowser modelIn the tabDownloadTrain verb
Adam Lite studio render, three-quarter front viewAdam Litepndbotics/adam-litePNDboticsgoogle-deepmind/mujoco_menageriePD hold164 MBlive
Aero Hand Open studio render, three-quarter front viewAero Hand Openchestnut/aero-hand-openChestnut Robotics (formerly TetherIA)not packaged yet--live
AgiBot Lingxi X1agibot/x1AgiBot (Zhiyuan Robotics)not packaged yet--live
ALOHA studio render, three-quarter front viewALOHAstanford/alohaStanford (Tony Zhao et al.)not packaged yet--live
AmazingHand studio render, three-quarter front viewAmazingHandpollen/amazing-handPollen Roboticsnot packaged yet--live
Apollo studio render, three-quarter front viewApolloapptronik/apolloApptronikgoogle-deepmind/mujoco_menageriePD hold68 MBlive
AR4 studio render, three-quarter front viewAR4anninrobotics/ar4Annin Roboticsnot packaged yet--live
Asimov 1 studio render, three-quarter front viewAsimov 1menlo/asimovMenlo Research (Asimov)not packaged yet--live
Berkeley Humanoid studio render, three-quarter front viewBerkeley Humanoidberkeley/humanoidUC Berkeley Hybrid Robotics Labgoogle-deepmind/mujoco_menageriePD hold26 MBlive
Berkeley Humanoid Lite studio render, three-quarter front viewBerkeley Humanoid Liteberkeley/humanoid-liteUC Berkeley Hybrid Robotics Labnot packaged yet--live
Bittle / Bittle Xpetoi/bittlePetoinot packaged yet--live
Booster K1 studio render, three-quarter front viewBooster K1booster/k1Booster Roboticsnot packaged yet--live
Booster T1 studio render, three-quarter front viewBooster T1booster/t1Booster Roboticsgoogle-deepmind/mujoco_menageriewalks · policy8.1 MBlive
Cassie studio render, three-quarter front viewCassieagility/cassieAgility Roboticsgoogle-deepmind/mujoco_menageriePD hold4.9 MBlive
CAD render of the full Dropbear humanoid standing, open printed frame with yellow accent partsDropbearhyperspawn/dropbearHyperspawn RoboticsHyperspawn/dropbear_mjcfPD hold180 MBlive
Duke Humanoid v1 legs, photo sequence of a walking gaitDuke Humanoid v1duke/duke-humanoidDuke University General Robotics Labnot packaged yet--live
EngineAI PM01engineai/pm01EngineAI (Zhongqing Robotics)not packaged yet--live
Fourier GR-1 studio render, three-quarter front viewFourier GR-1fourier/gr1Fourier (Fourier Intelligence)not packaged yet--live
Fourier GR-2 studio render, three-quarter front viewFourier GR-2fourier/gr2Fourier (Fourier Intelligence)not packaged yet--live
Fourier N1 studio render, three-quarter front viewFourier N1fourier/n1Fourier (Fourier Intelligence)google-deepmind/mujoco_menageriePD hold61 MBlive
HOPEJr humanoid artwork, three figures, one on a hoverboard baseHopeJRhuggingface/hopejrThe Robot Studio & Hugging Facenot packaged yet--live
Open Source Rover lit up at night, close-up of the body and rocker-bogieJPL Open Source Roverjpl/open-source-roverNASA Jet Propulsion Laboratorynot packaged yet--partial
K-Bot studio render, three-quarter front viewK-Botkscale/kbotK-Scale Labsnot packaged yet--live
Kangaroopal/kangarooPAL Roboticsnot packaged yet--live
Koch v1.1 Low-Cost Robot Arm studio render, three-quarter front viewKoch v1.1 Low-Cost Robot Armalexanderkoch/koch-v1-1Alexander Koch / Hugging Face LeRobotnot packaged yet--live
LEAP Hand studio render, three-quarter front viewLEAP Handcmu/leap-handCarnegie Mellon Universitynot packaged yet--live
Leju Kuavoleju/kuavoLeju Roboticsnot packaged yet--live
LeKiwi studio render, three-quarter front viewLeKiwiuiuc/lekiwiSIGRobotics UIUC / Hugging Face LeRobotnot packaged yet--live
OpenMANIPULATOR-X (RM-X52-TNM) studio render, three-quarter front viewOpenMANIPULATOR-X (RM-X52-TNM)robotis/openmanipulator-xROBOTISnot packaged yet--live
PAROL6 studio render, three-quarter front viewPAROL6sourcerobotics/parol6Source Roboticsnot packaged yet--live
Poppy Humanoid studio render, three-quarter front viewPoppy Humanoidpoppy/poppy-humanoidPoppy Project (Inria Flowers)not packaged yet--live
Pupper v3 studio render, three-quarter front viewPupper v3stanford/pupper-v3Stanford Student Robotics / Hands-On Roboticsnot packaged yet--live
Rainbow Robotics RB-Y1 studio render, three-quarter front viewRainbow Robotics RB-Y1rainbow/rby1Rainbow Roboticsnot packaged yet--live
Reachy 2 studio render, three-quarter front viewReachy 2pollen/reachy2Pollen Robotics (Hugging Face)not packaged yet--live
ROBOTIS OP3 studio render, three-quarter front viewROBOTIS OP3robotis/op3ROBOTISgoogle-deepmind/mujoco_menageriePD hold45 MBlive
ROBOTO_ORIGIN studio render, three-quarter front viewROBOTO_ORIGINroboparty/roboto-originRoboParty (Shanghai RoboParty Technology)not packaged yet--live
SO-100 (SO-ARM100) studio render, three-quarter front viewSO-100 (SO-ARM100)therobotstudio/so-100The Robot Studio / Hugging Facenot packaged yet--live
SO-101 (SO-ARM101) studio render, three-quarter front viewSO-101 (SO-ARM101)therobotstudio/so-101The Robot Studio / Hugging Facenot packaged yet--live
Solo-12 studio render, three-quarter front viewSolo-12odri/solo-12Open Dynamic Robot Initiativenot packaged yet--live
TALOS studio render, three-quarter front viewTALOSpal/talosPAL Roboticsgoogle-deepmind/mujoco_menageriePD hold7.6 MBlive
ToddlerBot studio render, three-quarter front viewToddlerBotstanford/toddlerbotStanford Universitygoogle-deepmind/mujoco_menageriePD hold65 MBlive
UMI Gripper (Universal Manipulation Interface) studio render, three-quarter front viewUMI Gripper (Universal Manipulation Interface)stanford/umi-gripperStanford / Columbia / Toyota Research Institutenot packaged yet--live
Unitree G1 studio render, three-quarter front viewUnitree G1unitree/g1Unitree Roboticsgoogle-deepmind/mujoco_menageriewalks · policy19 MBlive
Unitree Go2 studio render, three-quarter front viewUnitree Go2unitree/go2Unitree Roboticsnot packaged yet--live
Unitree H1 studio render, three-quarter front viewUnitree H1unitree/h1Unitree Roboticsgoogle-deepmind/mujoco_menageriewalks · policy14 MBlive
Unitree H1-2 studio render, three-quarter front viewUnitree H1-2unitree/h1-2Unitree Roboticsnot packaged yet--live
Unitree R1 studio render, three-quarter front viewUnitree R1unitree/r1Unitree Roboticsnot packaged yet--live
Z-Bot (Zeroth Bot) studio render, three-quarter front viewZ-Bot (Zeroth Bot)kscale/zbotK-Scale Labsnot packaged yet--live