Siheng Zhao, Yanjie Ze, Yue Wang, C. Karen Liu†, Pieter Abbeel†, Guanya Shi†, Rocky Duan†
† Equal Advising · 2025

Website · arXiv · Video

• Installation
• Usage
• Citation and Contact
• Acknowledgments

One-time setup (creates environment and installs dependencies):

source setup_dev.sh

Each time you open a new terminal, activate the environment:

source source_dev_setup.sh

Train the residual policy with the provided config. You need to pass your Weights & Biases entity (username or team):

./train.sh <wandb_entity>

Example: ./train.sh my_username

Run evaluation (play) for a trained run. From the repository root:

./eval.sh <wandb_run_id> <checkpoint_iter>

Example: ./eval.sh abc123def 5000 runs evaluation for run abc123def at checkpoint iteration 5000.

Optional: uncomment --record_video in eval.sh to save videos.

If you find this work useful, please cite:

@article{zhao2025resmimic,
title={ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning}, 
author={Siheng Zhao and Yanjie Ze and Yue Wang and C. Karen Liu and Pieter Abbeel and Guanya Shi and Rocky Duan},
year={2025},
journal= {arXiv preprint arXiv:2510.05070}
}

And also consider citing the related works:

@article{ze2025twist2,
title={TWIST2: Scalable, Portable, and Holistic Humanoid Data Collection System},
author= {Yanjie Ze and Siheng Zhao and Weizhuo Wang and Angjoo Kanazawa and Rocky Duan and Pieter Abbeel and Guanya Shi and Jiajun Wuand C. Karen Liu},
year= {2025},
journal= {arXiv preprint arXiv:2511.02832}
}

Questions: sihengz@usc.edu

This codebase is built on TWIST2.

See CONTRIBUTING for more information.

This project is licensed under the Apache-2.0 License.

This repository builds upon third-party open-source projects, including legged_gym and rsl_rl. These components have been modified to support our use case. The original LICENSE files in their respective subdirectories are retained and continue to govern those portions of the code. All rights and attribution remain with the original authors in accordance with their licenses.