booster_mjlab: open-source sim-to-real training stack for the Booster K1 humanoid

kevin_zakka · x · 2026-09-19

• A team released boostermjlab, an mjLab integration for the Booster K1 humanoid: robot model, training tasks, and an AMP motion-prior pipeline spanning simulation to the real robot.
• Tasks include AMP-based velocity tracking and motion tracking (enabling acrobatics), with motion references retargeted from LAFAN1 onto the K1's parallel-ankle design; a built-in viewer lets you browse, play back, and edit clips before training.
• An in-browser interactive demo runs the exported policy at 50 Hz in MuJoCo compiled to WebAssembly (14 MB), controllable via joystick, WASD, or gamepad.
• On hardware, the AMP velocity policy walks after 30k training steps. The project comes from the whIRLwind team, which focuses on robot football and is recruiting students and collaborators.

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