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humanoidrobots.training

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Fourier (Fourier Intelligence) · humanoid

Fourier GR-2

Second-generation Fourier humanoid (Sept 2024) with 53 DOF including 12-DOF hands and a detachable battery.

Frames · Fourier GR-2

4 items · credit and license on each
  • Fourier GR-2 studio render, three-quarter front view
    Studio render of the published URDF, the model's zero pose. Geometry only; colours are the model's own materials.Rendered by Hyperspawn from FFTAI/Wiki-GRx-Models (GPL-3.0) · Hyperspawn render · source
  • Fourier GR-2 studio render, side view
    Side view of the same URDF render, the model's zero pose.Rendered by Hyperspawn from FFTAI/Wiki-GRx-Models (GPL-3.0) · Hyperspawn render · source
  • 4 s turntable of the URDF studio render.Rendered by Hyperspawn from FFTAI/Wiki-GRx-Models (GPL-3.0) · Hyperspawn render · source
  • 📣 Say hello to GR-2! 📣Fourier · official embed · source

Provenance

No browser-ready model packaged yet.

The description is public, but nobody has pinned a commit and checked it compiles in MuJoCo WASM. Clone it and drop the folder on the viewport above (MJCF, or URDF with STL/OBJ meshes). Files stay in your tab.

Policies listed for Fourier GR-2

No published policy we can replay yet.

Nothing is playing a trained controller in the viewport above. What you see is a PD hold on the stand pose, computed in your tab. A policy plays here when a checkpoint is published with an obs/action contract we can reproduce exactly in MuJoCo, and it passes a 30 s walk test in the tab.

Set up a training run

Train on GPUs

mjlab ships no stock task for Fourier GR-2. The training page gives you the pinned model and the steps to write a robot config.

Build the job →