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ORCS Releases a Humanoid Whole-Body Controller Toolkit

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ORCS is an open toolkit for post-training privileged humanoid controllers with kinodynamic motion retargeting and reinforcement learning. Released Dodge, PerLoco, and UOLM checkpoints run in MuJoCo.

Humanoid Whole-Body Control Reinforcement Learning Motion retargeting LoRA RSL-RL MuJoCo SONIC ORCS Dodge PerLoco UOLM ViBe

Category: humanoid

Author: @lok_s_h

Date: 2026-09-14T00:00:00

Duration: 14.0s

Source: https://x.com/lok_s_h/status/2099432438808318059

Reference: https://github.com/lok-i/orcs

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