VisualMimic

October 3, 2025 · View on GitHub

[project page] [arXiv]

VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation, arXiv 2025. Shaofeng Yin*, Yanjie Ze*, Hong-Xing Yu, C. Karen Liu†, Jiajun Wu† (*Equal contribution, †Equal advising) Stanford University

Code will be fully open-sourced after paper acceptance.


Kick Ball
Kick Box

Lift Box
Push Box

News

  • [2025/09/24] Sim2Sim pipeline and checkpoints released.

Installation

The code is tested on Ubuntu 20.04.

conda create -n visualmimic python=3.8
conda activate visualmimic
pip install -r requirements.txt

Usage

Sim2Sim

cd sim2sim
python sim2sim.py --task kick_ball # kick_box, push_box, lift_box

Release Progress

  • Sim2Sim pipeline
  • Checkpoints for real world tasks
  • Low-level tracker training code
  • Low-level tracker checkpoint
  • High-level policy training code
  • Sim2Real pipeline

Contact

If you have any questions, please contact yinshaofeng04@gmail.com.