RL-X adds BeyondMimic-style G1 motion tracking in MuJoCo and MJX Warp
Jan_R_Peters · x · 2026-09-08
Developer Nico Bohlinger added a BeyondMimic-style robot motion tracking environment to the open-source RL-X framework, following the Holosoma G1 whole-body tracking setup with adaptations.
- Two implementations: MuJoCo (Numpy) and MJX with Warp backend (JAX)
- Tracks Unitree G1 motions, with optional object interaction using OMOMO clips; robot-only tracking uses LAFAN1
- Requires motions retargeted to G1 as NPZ files, not raw LAFAN BVH or human-only OMOMO data
- Code is open on GitHub with an OMOMO tracking demo
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