Joga: a full-stack humanoid soccer system with active vision and residual sim-to-real models
ericjang11 · x · 2026-09-23
Nolan Fey introduces Joga, a full-stack humanoid soccer system with active vision: agile dribbling, tight direction changes, and full receive → dribble → shoot/pass sequences. An actuated neck enables ball tracking with onboard vision, and residual models for perception and actuation close the sim-to-real gap. The paper is coming soon; the work was done in collaboration with several researchers. Eric Jang shared the work with praise.
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