ToddlerBot

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ToddlerBot is a low-cost, open-source humanoid robot platform designed for scalable policy learning and research in robotics and AI.

This codebase includes low-level control, RL training, DP training, real-world deployment and basically EVERYTHING you need to run ToddlerBot in the real world!

Built entirely in Python, it is fully pip-installable (python >= 3.10) for seamless setup and usage!

Setup

Refer to this page for instructions to setup.

Walkthrough

• Checkout examples for some scripts to start with. Many of them run on a real-world instance of ToddlerBot.

• The motion folder contains carefully crafted keyframe animations designed for ToddlerBot. For example, you can run

  python toddlerbot/policies/run_policy.py --policy replay --run-name push_up --vis view
  

  to see the push up motion in MuJoCo. You're very welcome to contribute your keyframe animation to our repository by submitting a pull request!

• The scripts folder contains some utility bash scripts.

• The tests folder have some tests that you can run with

  pytest tests/
  

  to verify our installation.

• The toddlerbot folder contains all the source code. You can find a detailed API documentation here.

Submitting an Issue

For easier maintenance, we will ONLY monitor GitHub Issues and likely ignore questions from other sources. We welcome issues related to anything we’ve open-sourced, not just the codebase.

Before submitting an issue, please ensure you have:

• Read the documentation, including the Tips and Tricks section.
• Checked the comments in the scripts.
• Carefully reviewed the assembly manual.
• Watched the assembly videos.

If we determine that your issue arises from not following these resources, we are unlikely to respond. However, if you have found a bug, need support for any open-sourced component, or want to submit a feature request, feel free to open an issue.

We truly appreciate your feedback and will do our best to address it!

Community

See our website for links to join the Discord or WeChat community!

Contributing

We welcome contributions from the community! To contribute, just follow the standard practice:

1. Fork the repo
2. Create a branch (feature-xyz)
3. Commit & push
4. Submit a Pull Request (PR)

Citation

If you use ToddlerBot for published research, please cite:

@article{shi2025toddlerbot,
  title={ToddlerBot: Open-Source ML-Compatible Humanoid Platform for Loco-Manipulation},
  author={Shi, Haochen and Wang, Weizhuo and Song, Shuran and Liu, C. Karen},
  journal={arXiv preprint arXiv:2502.00893},
  year={2025}
}

License

• The ToddlerBot codebase (including the documentation) is released under the .

• The ToddlerBot design (Onshape document, STL files, etc.) is released under the , which allows you to use and build upon our work non-commercially. The design of ToddlerBot is provided as-is and without warranty.