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This is the official technical documentation for Global Humanoid Robot Challenge 2026 (GHRC 2026). It is built on the LeRobot framework and provides an end-to-end workflow for a humanoid robot simulation platform, covering physics simulation, data collection, model training, and deployment.
1. Project Overview
This documentation is intended for GHRC 2026 participants and R&D teams, providing a unified baseline implementation:
- Build a high-fidelity humanoid robot simulation environment based on NVIDIA Isaac Sim
- Collect data via keyboard teleoperation and export in the standardized LeRobotDataset V3.0 format
- Train and fine-tune models using imitation learning algorithms (e.g., ACT, Pi0)
- Reproduce and benchmark quickly with official pretrained weights
2. Key Capabilities
| Capability | Description |
|---|---|
| Simulation Environment | High-fidelity Walker S2 robot simulation based on NVIDIA Isaac Sim, supporting a 20-dimensional state space (14 arm joints + 4 gripper joints + 2 gripper control commands). |
| Data Collection | Supports keyboard teleoperation; exports LeRobotDataset V3.0 format. |
| Model Training | Supports imitation learning algorithms such as ACT and Pi0. |
| 4-View Real-time Display | Supports real-time preview from 4 RGB cameras (head_left, head_right, wrist_left, wrist_right). |
3. Resources
Some large files in this project are hosted on Hugging Face. Please download them before first use:
| Resource Type | Local Directory | Remote |
|---|---|---|
| 🤖 Simulation environment & robot assets | assets/ (Git submodule) | UBTECH-Robotics/challenge2026_assets |
| 📊 Training dataset | datasets/ | UBTECH-Robotics/challenge2026_dataset |
3.1 Recommended Configuration
| Minimum | Recommended | Ideal | |
|---|---|---|---|
| OS | Ubuntu 22.04 / 24.04; Windows 10 / 11 | Ubuntu 22.04 / 24.04; Windows 10 / 11 | Ubuntu 22.04 / 24.04; Windows 10 / 11 |
| CPU | Intel Core i7 (7th Gen); AMD Ryzen 5 | Intel Core i7 (9th Gen); AMD Ryzen 7 | Intel Core i9 (X-series or higher); AMD Ryzen 9 / Threadripper (or higher) |
| Cores | 4 | 8 | 16 |
| RAM | 32GB | 64GB | 64GB |
| Storage | 50GB SSD | 500GB SSD | 1TB NVMe SSD |
| GPU | GeForce RTX 4080 | GeForce RTX 5080 | RTX PRO 6000 Blackwell |
| VRAM | 16GB | 16GB | 48GB |
| Driver | Linux: 580.65.06; Windows: 580.88 | Linux: 580.65.06; Windows: 580.88 | Linux: 580.65.06; Windows: 580.88 |
We recommend using larger RAM and VRAM capacities, especially for model training. Also, if you installed the 595 driver, Isaac Sim may crash inside the Docker container later; therefore, we recommend using driver version 580.
3.2 Tool Requirements
| Tool | Version | Notes |
|---|---|---|
CUDA | 12.8 | Official Guide |
Docker | latest | Official Guide |
NVIDIA Container Toolkit | latest | Official Guide |
Hugging Face | latest | pip install huggingface-hub; huggingface-cli --help (verify installation) |
Git | latest | sudo apt update; sudo apt install git -y; git --version (verify version) |
Miniconda | latest | Official Guide (optional) |