Hold My Beer🍻: Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control

[Website]

TODO

• [x] Release training code
• [x] Release evaluation code
• [ ] Release deploy code

Installation

IsaacGym Conda Env

Create conda environment.

conda create -n hmbgym python=3.8
conda activate hmbgym

Install IsaacGym

Download IsaacGym and extract:

wget https://developer.nvidia.com/isaac-gym-preview-4
tar -xvzf isaac-gym-preview-4

Install IsaacGym Python API:

pip install -e isaacgym/python

Test installation:

cd isaacgym/python/examples

python 1080_balls_of_solitude.py  # or
python joint_monkey.py

For libpython error:

• Check conda path: bash conda info -e
• Set LD_LIBRARY_PATH: bash export LD_LIBRARY_PATH=</path/to/conda/envs/your_env/lib>:$LD_LIBRARY_PATH

Install SoFTA

git clone https://github.com/LeCAR-Lab/SoFTA.git
cd SoFTA

pip install -e .
pip install -e isaac_utils

Training Code

Unitree G1_27DoF

Training Command

python humanoidverse/train_agent.py +exp=async_locomotion_ma_stand_gait_ee_rrh simulator.config.sim.control_decimation=2 +opt=wandb

Evaluation Code

Evaluation Command

python humanoidverse/eval_agent.py +checkpoint=<path_to_your_ckpt>

Interactive Commands

• press w/a/s/d to control the linear velocity
• press q/e to control the angular velocity
• press z to set all commands to zero
• press upper/lower arrow to control the EE z pos
• press left/right arrow to control the EE y pos
• press page up/down to control the EE x pos
• press page 1/2 to control the gait period

Citation

If you find our work useful, please consider citing us!

@article{li2025softa,
          title={Hold My Beer: Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control},
          author={Li, Yitang and Zhang, Yuanhang and Xiao, Wenli and Pan, Chaoyi and Weng, Haoyang and He, Guanqi and He, Tairan and Shi, Guanya},
          journal={arXiv preprint arXiv:2505.24198},
          year={2025}
        }

Also consider citing these prior works that are used in this project:

@article{zhang2025falcon,
          title={FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation},
          author={Zhang, Yuanhang and Yuan, Yifu and Gurunath, Prajwal and He, Tairan and Omidshafiei, Shayegan and Agha-mohammadi, Ali-akbar and Vazquez-Chanlatte, Marcell and Pedersen, Liam and Shi, Guanya},
          journal={arXiv preprint arXiv:2505.06776},
          year={2025}
        }
@article{he2025asap,
          title={ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills},
          author={He, Tairan and Gao, Jiawei and Xiao, Wenli and Zhang, Yuanhang and Wang, Zi and Wang, Jiashun and Luo, Zhengyi and He, Guanqi and Sobanbabu, Nikhil and Pan, Chaoyi and Yi, Zeji and Qu, Guannan and Kitani, Kris and Hodgins, Jessica and Fan, Linxi "Jim" and Zhu, Yuke and Liu, Changliu and Shi, Guanya},
          journal={arXiv preprint arXiv:2502.01143},
          year={2025}
        }
@misc{HumanoidVerse,
          author = {CMU LeCAR Lab},
          title = {HumanoidVerse: A Multi-Simulator Framework for Humanoid Robot Sim-to-Real Learning},
          year = {2025},
          publisher = {GitHub},
          journal = {GitHub repository},
          howpublished = {\url{https://github.com/LeCAR-Lab/HumanoidVerse}},
        }

License

This project is licensed under the MIT License - see the LICENSE file for details.