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humanoidrobots.training

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PAL Robotics · humanoid

TALOS

Full-size torque-controlled research biped (1.75 m, 95 kg, 32 DOF) with joint torque sensing and EtherCAT control.

Frames · TALOS

5 items · credit and license on each
  • TALOS studio render, three-quarter front view
    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/pal_talos (Apache-2.0) · Hyperspawn render · source
  • TALOS studio render, side view
    Side view of the same MJCF render, keyframe pose from the model.Rendered by Hyperspawn from mujoco_menagerie/pal_talos (Apache-2.0) · Hyperspawn render · source
  • 4 s turntable of the MJCF studio render.Rendered by Hyperspawn from mujoco_menagerie/pal_talos (Apache-2.0) · Hyperspawn render · source
  • PAL Robotics | TALOS - High Performance Biped RobotPALRobotics · official embed · source
  • TALOS - Torque Controlled BalancingPALRobotics · official embed · source

Provenance

Model
PAL TALOS
Repo
google-deepmind/mujoco_menagerie
Commit
c96a32d28fb5
Entry
pal_talos/scene_position.xml
Files
51 · 7.6 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

Policies listed for TALOS

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 TALOS. The training page gives you the pinned model and the steps to write a robot config.

Build the job →