Berkeley Humanoid Lite · published weights

Velocity-Berkeley-Humanoid-Lite-v0 (22-DoF full humanoid velocity tracking)

Source ↗Berkeley Humanoid Lite robot page

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Robot: Berkeley Humanoid Lite berkeley/humanoid-lite
Framework: Isaac Lab 2.1.0 / Isaac Sim 4.5.0 + rsl_rl PPO; ONNX deploy (policy_dt 0.04 s = 25 Hz) · Isaac Lab
Policy license: not stated by the package · robot software repos: MIT
File: checkpoints/policy_humanoid.onnx
Source: https://github.com/HybridRobotics/Berkeley-Humanoid-Lite/blob/main/configs/policy_humanoid.yaml

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To replay this policy in the browser we need an ONNX export of the named checkpoint, the observation and action contract copied from the authors' own sim2sim or deploy script, and a MuJoCo model of the robot that the contract matches. Then it must walk 60 s in our runtime without a fall. Until then the source link is the way in.

Other Berkeley Humanoid Lite policies · 5

Velocity-Berkeley-Humanoid-Lite-Biped-v0 (12-DoF legs only)Isaac Lab + rsl_rl PPO; ONNX (policy_dt 0.02 s = 50 Hz); also policy_biped_25hz_a/b.onnx
Humanoid legs-only policyIsaac Lab + rsl_rl; ONNX
Video demo policyIsaac Lab + rsl_rl; ONNX
Sim2sim validation in MuJoCoMuJoCo
VR teleoperation of arms (SteamVR bridge)SteamVR-Bridge (Windows) + IK solver