LAC — Interactive Web Demo

Live demo: lac-humanoid.github.io

In-browser interactive demo for LAC: Linear and Angular Compliance for Humanoid Whole-body Control (Unitree G1, 23 DOF). The compliant whole-body policy runs entirely in your browser — MuJoCo (WebAssembly) simulates the robot at full rate while the policy runs via ONNX Runtime Web. Drag the robot with MuJoCo's native perturbation controls (double-click a body, then Ctrl+drag) and watch it comply.

• Paper: coming soon (arXiv)
• Code (model checkpoint + MuJoCo evaluation): lac-humanoid/lac-code

Run locally

npm install
npm run dev    # http://localhost:3000

npm run build produces the static site in dist/; scripts/publish_pages.sh builds and publishes it to the gh-pages branch.

Project structure

• src/views/Demo.vue — UI controls for the live demo
• src/simulation/main.js — bootstraps MuJoCo, Three.js renderer, and policy loop
• src/simulation/mujocoUtils.js — scene/policy loading and filesystem preloading
• src/simulation/lac/policyRunner.js — ONNX inference wrapper and observation pipeline
• src/simulation/utils/DragStateManager.js — MuJoCo-native perturbation (mjv_* via wasm)
• public/examples/scenes/ — MJCF + meshes staged into MuJoCo's MEMFS
• public/examples/checkpoints/ — policy ONNX, config, and pose presets

Acknowledgments

The viewer is built on humanoid-policy-viewer by Qingzhou Lu (@Axellwppr) — the same Vue + MuJoCo-WASM + ONNX-Runtime-Web engine behind the GentleHumanoid web demo. We thank the author for making it available.