Fourier N1

1.3 m, 38 kg humanoid launched April 2025 with open-released BOM, design drawings, assembly guides and base software.

Frames · Fourier N1

4 items · credit and license on each

Studio render of the published MJCF, keyframe pose from the model. Geometry only; colours are the model's own materials.Rendered by Hyperspawn from mujoco_menagerie/fourier_n1 (Apache-2.0) · Hyperspawn render · source
Side view of the same MJCF render, keyframe pose from the model.Rendered by Hyperspawn from mujoco_menagerie/fourier_n1 (Apache-2.0) · Hyperspawn render · source
4 s turntable of the MJCF studio render.Rendered by Hyperspawn from mujoco_menagerie/fourier_n1 (Apache-2.0) · Hyperspawn render · source
Fourier N1 | Street Dance BotFourier · official embed · source

Model: Fourier N1
Repo: google-deepmind/mujoco_menagerie
Commit: c96a32d28fb5
Entry: fourier_n1/scene.xml
Files: 31 · 61 MB, fetched from raw.githubusercontent.com, cached in your browser
License: Apache-2.0
Engine: MuJoCo 3.14.0, official WebAssembly build · three.js renderer
Controller: PD hold on the stand keyframe with an ankle-strategy tilt term; not a learned policy

Walk (TorchScript, developer API, radians)
PyTorch JIT (Isaac Gym / legged_gym) · not replayed in the tab
source
Walk, refined (TorchScript)
PyTorch JIT (Isaac Gym / legged_gym, FourierN1_refine branch of Wiki-GRx-Gym) · not replayed in the tab
source
Built-in tasks: stand/walk/run (up to 3.5 m/s), get-up front/back, squat, single-leg stand, lie down, box-carry arm pose
fourier-grx (closed binary) · not replayed in the tab
source

mjlab ships no stock task for Fourier N1. The training page gives you the pinned model and the steps to write a robot config.