ALMI-trans

🔥 Homepage | ⛁ Dataset | 🤗 Models | 📑 Paper | 💻 Code

This repo contains the humanoid foundation model trained using ALMI-X dataset as mentioned in our paper Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning. We realse the exported models corresponding to CL-20sl and CL-400sl in our paper.

You can find model training and inference code here. Following the guidance you can train and play your own humanoid foundation model in Mujoco simulation with ALMI-X dataset.

ALMI-X Collection and Model Architecture

Citation

If you find our work helpful, please cite us:

        @misc{shi2025almi,
          title={Adversarial Locomotion and Motion Imitation for Humanoid Policy Learning}, 
          author={Jiyuan Shi and Xinzhe Liu and Dewei Wang and Ouyang Lu and Sören Schwertfeger and Fuchun Sun and Chenjia Bai and Xuelong Li},
          year={2025},
          eprint={2504.14305},
          archivePrefix={arXiv},
          primaryClass={cs.RO},
          url={https://arxiv.org/abs/2504.14305}, 
    }