Humanoid Sample Pipelines

The Humanoid Toolkit sample pipelines demonstrate end-to-end AI workflows optimized for Intel platforms. Review the validated hardware configuration before running a pipeline.

Sample Pipelines

End-to-end reference pipelines demonstrating imitation learning, vision-based manipulation, SLAM, and LLM-guided task execution.

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Package Reference

Find supported Humanoid runtime, middleware, sensor, and pipeline packages.

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Sample Pipelines Overview

Pipeline	Domain	Description
Imitation Learning - ACT	Manipulation, AI	Action Chunking with Transformers optimized with OpenVINO™ for ALOHA robots.
Diffusion Policy	Manipulation, AI	Visuomotor diffusion policy for the Push-T manipulation task.
Model Predictive Control Demo	Manipulation, Control	ACT imitation learning with OCS2 MPC and MuJoCo simulation.
VSLAM: ORB-SLAM3	SLAM, Perception	Feature-based visual SLAM for monocular, stereo, and RGB-D cameras.
Robotics Diffusion Transformer (RDT)	Foundation Model, AI	Bimanual manipulation foundation model running in MuJoCo and real ALOHA robots.
Pi0.5 with Real-Time Chunking	VLA, Manipulation	Vision-Language-Action pipeline with PaliGemma VLM and flow-matching policy.
LLM Robotics Demo	GenAI, Manipulation	Voice and text-commanded robot control with Phi-4 and SAM/CLIP.
OpenClaw AgenticROS Demo	Agentic AI, ROS 2	Agentic ROS framework demo with OpenClaw.
Fast-LIO2 Demo	LiDAR, SLAM	Fast, robust LiDAR-inertial odometry package.
Fast-LIVO2 Demo	LiDAR, Visual SLAM	Fast LiDAR-inertial-visual odometry package.
Point-LIO Demo	LiDAR, SLAM	Robust LiDAR-inertial odometry via point-by-point integration.
GR00T Whole-Body Control	Control, Manipulation	Whole-body control pipeline for humanoid robotics.
GR00T N1D7 OpenVINO	AI Inference	OpenVINO-accelerated GR00T foundation model deployment.