CMU open-sources the HTD whole-body controller for humanoids — playable in your browser
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Loading videoThe CMU team behind Humanoid Touch Dream (HTD, IROS 2026) open-sourced every component of their whole-body controller: an Isaac Lab framework for training and deploying decoupled WBCs with teacher training, student distillation, interactive sim rollouts and physical-robot deployment — the full pipeline fits on a single GPU. The controller tracks velocity and torso-pose commands together, was validated in long-horizon loco-manipulation on a Unitree G1, and ships with an interactive browser demo built on MuJoCo/WebGL.
Category: humanoid
Author: @yaru_niu
Date: 2026-08-25T00:00:00
Duration: 77.366s
