AMO

<h1 align="center">AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control</h1> <p align="center"> <a href="https://rexskywalkerlee.github.io/"><strong>Jialong Li*</strong></a> . <a href="https://chengxuxin.github.io/"><strong>Xuxin Cheng*</strong></a> · <a href="https://tian-shu-huang.github.io"><strong>Tianshu Huang*</strong></a> <br> <a href="https://aaronyang1223.github.io/"><strong>Shiqi Yang</strong></a> · <a href="https://rogerqi.github.io/"><strong>Ri-Zhao Qiu</strong></a> · <a href="https://xiaolonw.github.io/"><strong>Xiaolong Wang</strong></a> </p> <p align="center"> <img src="img/UCSanDiegoLogo-BlueGold.png" height=30"> </p> <h3 align="center"> RSS 2025 </h3> <p align="center"> <h3 align="center"><a href="https://amo-humanoid.github.io/">Website</a> | <a href="https://arxiv.org/abs/2505.03738/">arXiv</a> | <a href="">Video</a> | <a href="">Summary</a> </h3> <div align="center"></div> </p>

Introduction

This script allows you to interact with our model and visualize it in the MuJoCo simulator—feel free to give it a try!

Installation

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

To run the script, simply put

python play_amo.py

Guidelines

Press Z (+) and X (-) to control torso height (I.D. range: [-0.5, 0.8])

<img src="./img/torso_height.webp" width="50%"/>

Press J (+) and U (-) to control torso yaw (I.D. range: [-1.57, 1.57])

<img src="./img/torso_yaw.webp" width="50%"/>

Press K (+) and I (-) to control torso pitch (I.D. range: [-0.52, 1.57])

<img src="./img/torso_pitch.webp" width="50%"/>

Press L (+) and O (-) to control torso roll (I.D. range: [-0.7, 0.7])

<img src="./img/torso_roll.webp" width="50%"/>

Press W (+) and S (-) to control Vₓ (I.D. range: [-0.5, 0.5])

<img src="./img/vx.webp" width="50%"/>

Press Q (+) and E (-) to control Vᵧ (I.D. range: [-0.4, 0.4])

<img src="./img/vy.webp" width="50%"/>

Press A (+) and D (-) to control yaw

<img src="./img/yaw.webp" width="50%"/>

You can experiment with different command combinations, including out-of-distribution (O.O.D.) ones, all using the same model. You can even include arm motions on top of it! (Press T to toggle arm actions)

<img src="./img/full.webp" width="50%"/>

Enjoy!

‼️Alert & Disclaimer

Deploying these models on physical hardware can be hazardous. This video demonstrates how sim‑to‑real transfer failures can cause serious damage. Unless you have deep sim‑to‑real expertise and robust safety protocols, we strongly advise against running the model on real robots. These models are supplied for research use only, and we disclaim all responsibility for any harm, loss, or malfunction arising from their deployment.

Citation

@article{li2025amo,
title={AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control},
author={Li, Jialong and Cheng, Xuxin and Huang, Tianshu and Yang, Shiqi and Qiu, Rizhao and Wang, Xiaolong},
journal={Robotics: Science and Systems 2025},
year={2025}
}