LeCAR Lab at CMU

BFM_Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning

Website of FALCON

[L4DC 2026 (Oral)] "FALCON: Learning Force-Adaptive Humanoid Loco-Manipulation"

[RSS 2025] "ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills"

UMI-on-Air: Embodiment-Aware Guidance for Embodiment-Agnostic Visuomotor Policies

Repository for SPI-Active's website

Official Implementation of "Sampling-Based System Identification with Active Exploration for Legged Robot Sim2Real Learning"