{"adoption": {"forks": 197, "observed_at": "2026-08-28T04:06:13.588825+00:00", "stars": 2100}, "canonical_url": "https://ross.abutalabs.com/products/asap", "card": {"archived": false, "artifact_type": "library", "description": "[RSS 2025] \"ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills\"", "domain": ["robotics", "reinforcement-learning", "simulation", "machine-learning"], "enriched": true, "function": ["reinforcement-learning", "simulation", "robotics", "machine-learning"], "health_score": 57, "homepage": "https://agile.human2humanoid.com/", "language": "Python", "license": "MIT", "license_family": "permissive", "maturity": "active", "member_repos": ["LeCAR-Lab/ASAP"], "name": "LeCAR-Lab/ASAP", "platform": ["python"], "pushed_at": "2026-01-06T04:58:36+00:00", "repo": "LeCAR-Lab/ASAP", "stars": 2100, "tags": ["humanoid", "sim2real", "motion-tracking", "isaacgym", "isaacsim", "genesis", "motion-retargeting", "delta-action-model", "research-code", "linux", "gpu"], "topics": ["humanoid", "reinforcement-learning", "robotics"], "urls": [], "use_cases": ["train humanoid robots to perform agile whole-body motions like jumps and kicks", "close the sim-to-real gap for humanoid locomotion policies", "retarget human motion capture data (AMASS/SMPL) to arbitrary humanoid robots", "deploy motion tracking policies on real humanoid hardware", "fine-tune simulation-trained policies with a residual dynamics model"], "what_it_is": "ASAP is a two-stage framework for training agile humanoid whole-body skills by aligning simulation and real-world physics. It pre-trains motion tracking policies in simulation, then trains a delta (residual) action model from real-world data to compensate for dynamics mismatch and fine-tune policies for sim2real deployment.", "when_to_avoid": ["you need a production-ready robotics middleware rather than research code", "you work with non-humanoid robots", "you lack GPU hardware or NVIDIA Isaac simulator access"], "when_to_choose": ["you are doing humanoid robotics research on agile whole-body skills", "you need a sim2real pipeline built on IsaacGym, IsaacSim, or Genesis", "you want to retarget SMPL/AMASS human motions to a humanoid robot"]}, "data_as_of": "2026-08-30T08:39:29.467469+00:00", "members": [{"path": "/products/asap", "repo": "LeCAR-Lab/ASAP", "role": "main", "score": 48}], "provenance": {"archived": {"kind": "observed", "observed_at": "2026-08-28T04:06:13.588825+00:00", "source": "github"}, "artifact_type": {"confidence": null, "enriched_at": "2026-08-30T02:54:19.875136+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "6c520642b2c80af7477e19c2c37a0138ba7e6ec71522ee14234484e33089c32f", "fetched_at": "2026-08-28T04:06:13.588825+00:00", "kind": "readme", "missing": false, "url": "https://github.com/LeCAR-Lab/ASAP"}, {"content_hash": "6a4d863595f00586d92d371ce683fcda3d8471b2a78cbc5cda1818c7463913ad", "fetched_at": "2026-08-29T10:34:37.049418+00:00", "kind": "homepage", "missing": false, "url": "https://agile.human2humanoid.com/"}], "taxonomy_version": 1}, "description": {"kind": "observed", "observed_at": "2026-08-28T04:06:13.588825+00:00", "source": "github"}, "domain": {"confidence": null, "enriched_at": "2026-08-30T02:54:19.875136+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "6c520642b2c80af7477e19c2c37a0138ba7e6ec71522ee14234484e33089c32f", "fetched_at": "2026-08-28T04:06:13.588825+00:00", "kind": "readme", "missing": false, "url": "https://github.com/LeCAR-Lab/ASAP"}, {"content_hash": "6a4d863595f00586d92d371ce683fcda3d8471b2a78cbc5cda1818c7463913ad", "fetched_at": "2026-08-29T10:34:37.049418+00:00", "kind": "homepage", "missing": false, "url": "https://agile.human2humanoid.com/"}], "taxonomy_version": 1}, "enriched": {"inputs": [], "kind": "computed", "method": "enrichment_status"}, "function": {"confidence": null, "enriched_at": "2026-08-30T02:54:19.875136+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "6c520642b2c80af7477e19c2c37a0138ba7e6ec71522ee14234484e33089c32f", "fetched_at": "2026-08-28T04:06:13.588825+00:00", "kind": "readme", "missing": false, "url": "https://github.com/LeCAR-Lab/ASAP"}, {"content_hash": "6a4d863595f00586d92d371ce683fcda3d8471b2a78cbc5cda1818c7463913ad", "fetched_at": "2026-08-29T10:34:37.049418+00:00", "kind": "homepage", "missing": false, "url": "https://agile.human2humanoid.com/"}], "taxonomy_version": 1}, "health_score": {"inputs": ["days_since_push", "days_since_release", "archived"], "kind": "computed", "method": "health_v1"}, "homepage": {"kind": "observed", "observed_at": "2026-08-28T04:06:13.588825+00:00", "source": "github"}, "language": {"kind": "observed", "observed_at": "2026-08-28T04:06:13.588825+00:00", "source": "github"}, "license": {"kind": "observed", "observed_at": "2026-08-28T04:06:13.588825+00:00", "source": "github"}, "license_family": {"inputs": ["license"], "kind": "computed", "method": "license_family"}, "maturity": {"confidence": null, "enriched_at": "2026-08-30T02:54:19.875136+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "6c520642b2c80af7477e19c2c37a0138ba7e6ec71522ee14234484e33089c32f", "fetched_at": "2026-08-28T04:06:13.588825+00:00", "kind": "readme", "missing": false, "url": "https://github.com/LeCAR-Lab/ASAP"}, {"content_hash": "6a4d863595f00586d92d371ce683fcda3d8471b2a78cbc5cda1818c7463913ad", "fetched_at": "2026-08-29T10:34:37.049418+00:00", "kind": "homepage", "missing": false, "url": "https://agile.human2humanoid.com/"}], "taxonomy_version": 1}, "member_repos": {"kind": "observed", "observed_at": "2026-08-28T04:06:13.588825+00:00", "source": "github"}, "name": {"kind": "observed", "observed_at": "2026-08-28T04:06:13.588825+00:00", "source": "github"}, "platform": {"confidence": null, "enriched_at": "2026-08-30T02:54:19.875136+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "6c520642b2c80af7477e19c2c37a0138ba7e6ec71522ee14234484e33089c32f", "fetched_at": "2026-08-28T04:06:13.588825+00:00", "kind": "readme", "missing": false, "url": "https://github.com/LeCAR-Lab/ASAP"}, {"content_hash": "6a4d863595f00586d92d371ce683fcda3d8471b2a78cbc5cda1818c7463913ad", "fetched_at": "2026-08-29T10:34:37.049418+00:00", "kind": "homepage", "missing": false, "url": "https://agile.human2humanoid.com/"}], "taxonomy_version": 1}, "pushed_at": {"kind": "observed", "observed_at": "2026-08-28T04:06:13.588825+00:00", "source": "github"}, "repo": {"kind": "observed", "observed_at": "2026-08-28T04:06:13.588825+00:00", "source": "github"}, "stars": {"kind": "observed", "observed_at": "2026-08-28T04:06:13.588825+00:00", "source": "github"}, "tags": {"confidence": null, "enriched_at": "2026-08-30T02:54:19.875136+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "6c520642b2c80af7477e19c2c37a0138ba7e6ec71522ee14234484e33089c32f", "fetched_at": "2026-08-28T04:06:13.588825+00:00", "kind": "readme", "missing": false, "url": "https://github.com/LeCAR-Lab/ASAP"}, {"content_hash": "6a4d863595f00586d92d371ce683fcda3d8471b2a78cbc5cda1818c7463913ad", "fetched_at": "2026-08-29T10:34:37.049418+00:00", "kind": "homepage", "missing": false, "url": "https://agile.human2humanoid.com/"}], "taxonomy_version": 1}, "topics": {"kind": "observed", "observed_at": "2026-08-28T04:06:13.588825+00:00", "source": "github"}, "urls": {"kind": "observed", "observed_at": "2026-08-28T04:06:13.588825+00:00", "source": "github"}, "use_cases": {"confidence": null, "enriched_at": "2026-08-30T02:54:19.875136+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "6c520642b2c80af7477e19c2c37a0138ba7e6ec71522ee14234484e33089c32f", "fetched_at": "2026-08-28T04:06:13.588825+00:00", "kind": "readme", "missing": false, "url": "https://github.com/LeCAR-Lab/ASAP"}, {"content_hash": "6a4d863595f00586d92d371ce683fcda3d8471b2a78cbc5cda1818c7463913ad", "fetched_at": "2026-08-29T10:34:37.049418+00:00", "kind": "homepage", "missing": false, "url": "https://agile.human2humanoid.com/"}], "taxonomy_version": 1}, "what_it_is": {"confidence": null, "enriched_at": "2026-08-30T02:54:19.875136+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "6c520642b2c80af7477e19c2c37a0138ba7e6ec71522ee14234484e33089c32f", "fetched_at": "2026-08-28T04:06:13.588825+00:00", "kind": "readme", "missing": false, "url": "https://github.com/LeCAR-Lab/ASAP"}, {"content_hash": "6a4d863595f00586d92d371ce683fcda3d8471b2a78cbc5cda1818c7463913ad", "fetched_at": "2026-08-29T10:34:37.049418+00:00", "kind": "homepage", "missing": false, "url": "https://agile.human2humanoid.com/"}], "taxonomy_version": 1}, "when_to_avoid": {"confidence": null, "enriched_at": "2026-08-30T02:54:19.875136+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "6c520642b2c80af7477e19c2c37a0138ba7e6ec71522ee14234484e33089c32f", "fetched_at": "2026-08-28T04:06:13.588825+00:00", "kind": "readme", "missing": false, "url": "https://github.com/LeCAR-Lab/ASAP"}, {"content_hash": "6a4d863595f00586d92d371ce683fcda3d8471b2a78cbc5cda1818c7463913ad", "fetched_at": "2026-08-29T10:34:37.049418+00:00", "kind": "homepage", "missing": false, "url": "https://agile.human2humanoid.com/"}], "taxonomy_version": 1}, "when_to_choose": {"confidence": null, "enriched_at": "2026-08-30T02:54:19.875136+00:00", "kind": "inferred", "prompt_version": 1, "sources": [{"content_hash": "6c520642b2c80af7477e19c2c37a0138ba7e6ec71522ee14234484e33089c32f", "fetched_at": "2026-08-28T04:06:13.588825+00:00", "kind": "readme", "missing": false, "url": "https://github.com/LeCAR-Lab/ASAP"}, {"content_hash": "6a4d863595f00586d92d371ce683fcda3d8471b2a78cbc5cda1818c7463913ad", "fetched_at": "2026-08-29T10:34:37.049418+00:00", "kind": "homepage", "missing": false, "url": "https://agile.human2humanoid.com/"}], "taxonomy_version": 1}}, "score": {"components": {"activity": 61, "longevity": 41, "rhythm": 35}, "computed_at": "2026-09-03T02:20:16.233290+00:00", "flags": ["no_releases"], "formula": "round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)", "inputs": {"age_days": 583, "days_push": 239, "days_rel": null, "gap_med": null, "n_releases_24m": 0}, "score": 48, "version": 2}, "staleness": {"enrichment_outdated": false, "low_confidence": false, "scrape_days": 9, "stale_scrape": false}}