orcs v0.1.1 ships: toolkit for training privileged humanoid controllers with SONIC LoRA adaptation
kevin_zakka · x · 2026-10-30
orcs v0.1.1 is out — an open-source toolkit (BSD-3, 164 stars) for training and retargeting privileged humanoid controllers, featuring LoRA adaptation of SONIC, kinodynamic retargeting of SMPL motions, and experimental tabula rasa training.
Highlights of this release:
- Perceptive whole-body locomotion on EgoHTR: one adapted policy handles rocky climbs and window crossing
- Agentic UMR retargeting skill: leave frame-wise notes and an agent revises the reference motion
Built with uv; multiple preconfigured tasks included.
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