sim2real
August 5, 2026 ยท View on GitHub
A lightweight and modular sim2sim and sim2real deployment stack.
Chinese version: README_zh.md
Full documentation: https://egalahad.github.io/sim2real/
If you're looking for the HDMI deployment stack, go to hdmi tag.
Runtime Artifacts
Large runtime artifacts are not stored in git. Download the shared
sim2real artifacts
folder and place checkpoints/ and third_party/ at the repo root.
See Download Artifacts for the expected directory layout and onboard dependency notes.
Quick Start
uv sync --extra inference-cpu
For G1 onboard installation or repair, invoke the repository Codex skill
$configure-g1-sim2real from .agents/skills/configure-g1-sim2real.
Run offline motion tracking (sim2sim):
uv run sim2real/sim_env/base_sim.py --robot g1
uv run sim2real/rl_policy/tracking.py --robot g1 \
--policy_config checkpoints/mimic-lite/32x8192-huge/policy.yaml \
--motion_path hf://elijahgalahad/any4hdmi-g1-lafan/motions/walk1_subject1.npz
After both processes are up, press ] in the policy terminal to start. Open the mjviser URL printed by base_sim.py, then use the Elastic Band controls in the viewer UI to disable or tune the virtual gantry.
Migrating to sim2real
This repo includes a Codex skill for adapting policies trained in external codebases into sim2real:
.agents/skills/adapt-policy-to-sim2real
Converted checkpoints are distributed through the shared sim2real artifacts folder.
Currently supported adapted / distributed checkpoint families:
| Policy family | Config path(s) | Notes |
|---|---|---|
| Mimic-Lite | checkpoints/mimic-lite | Native mimic-lite tracking checkpoints. |
| BFM-Zero | checkpoints/bfm-zero/exp_lafan40-100style_update_z10/policy.yaml | Latent-conditioned motion tracker. |
| ScaleBFM | checkpoints/scalebfm | ScaleBFM Humanoid Transformer M and XL ONNX exports from WeishuaiZeng/ScaleBFM. |
| SONIC release | checkpoints/sonic/release | Release G1 and SMPL encoder variants. |
| SONIC low-latency | checkpoints/sonic/low_latency | Low-latency G1 and SMPL variants. |
| HoloMotion v1.4.0 | checkpoints/holomotion/v1_4_0/policy.yaml | Uses the official unmodified ONNX from HorizonRobotics/HoloMotion_models; place it at checkpoints/holomotion/v1_4_0/policy.onnx. |
| TeleopIT | checkpoints/teleopit/policy.yaml | TeleopIT policy wrapper. |
| Humanoid-GPT | checkpoints/humanoid-gpt/policy.yaml | Humanoid-GPT policy wrapper. |
| HEFT | checkpoints/heft | PMG and compliance variants. |
| TWIST2 | checkpoints/twist2/policy.yaml | TWIST2 policy wrapper. |
The comparison uses fresh runs for all 13 policy variants on LAFAN-40, PHUMA-30, and a direction-clean Root-90 set whose clips move 1.5--3.0 m without changing their labelled forward, backward, or sideward direction.
For a fair comparison, we report the motion-lookahead latency required by each policy, defined by its furthest required future-reference frame. All values use the shared 50 Hz reference-motion contract.
| Policy | MimicLite | BFM-Zero | ScaleBFM | SONIC release | SONIC low-latency | HoloMotion | TeleopIT | Humanoid-GPT | HEFT | TWIST2 |
|---|---|---|---|---|---|---|---|---|---|---|
| Motion-lookahead latency | 0.08 s | 0.12 s | 0.10 s | 0.90 s | 0.18 s | 0.20 s | 0.00 s | 0.02 s | 0.12 s | 0.00 s |
Real-robot Environments
Robot SDKs are kept out of the generic root environment. G1 inline deployment
uses uv sync --extra inference-cpu --extra robot-g1. See
Robot I/O Modes for setup and deployment commands.
Next Steps
Citation
If you find sim2real useful in your research, please cite:
@misc{sim2real2026,
author = {{RoboParty Lab Team}},
title = {sim2real: A Lightweight and Modular Sim2sim and Sim2real Deployment Stack},
year = {2026},
howpublished = {\url{https://github.com/EGalahad/sim2real}},
note = {Documentation: \url{https://egalahad.github.io/sim2real/}}
}