| --- |
| license: cc-by-4.0 |
| library_name: mujoco |
| pipeline_tag: reinforcement-learning |
| tags: |
| - reinforcement-learning |
| - mujoco |
| - humanoid |
| - martial-arts |
| - ppo |
| - webassembly |
| --- |
| |
| # Kakuto fighter |
|
|
| A simulated humanoid martial artist, trained with reinforcement learning (PPO) in [MuJoCo](https://mujoco.org). |
| It holds a Muay Thai stance, walks and dashes, blocks, and throws 14 techniques: jab, cross, lead and rear hooks, |
| uppercuts, body cross, pull counter, high kicks, knees and elbows. |
|
|
| **Try it in your browser:** [ai.kakuto.io/en/try/](https://ai.kakuto.io/en/try/). The page runs MuJoCo compiled to |
| WebAssembly and this policy entirely on your device, and downloads the files in `web/` from this repository. |
|
|
| How it was trained, with videos and costs: [ai.kakuto.io](https://ai.kakuto.io). |
|
|
| ## This model |
|
|
| | | | |
| |---|---| |
| | Checkpoint | `distill9-196.6M` (196.6 M environment steps) | |
| | What it is | A student policy distilled from per-skill teacher policies | |
| | Body | `muscular-fast`: 48 actuators | |
| | Network | MLP, 2 hidden layers of 512 units, ELU; 465 observations in, 48 actions out | |
|
|
| ## Files |
|
|
| Everything the browser demo needs is in `web/`: |
|
|
| | File | What | |
| |---|---| |
| | `fighter.xml` | The MuJoCo model (MJCF): the fighter's body and the scene | |
| | `fighter.json` | The metadata: tensor layout in `fighter.bin`, observation layout, action scaling, techniques | |
| | `fighter.bin` | The policy's weights and observation normalisation, plus the stance tables | |
| | `punches.bin.gz` | The techniques' reference tables (loaded when the first technique is used) | |
| | `walk.bin.gz` | The walking reference tables | |
| | `mujoco-3.16.0.wasm.gz` | MuJoCo 3.16.0's WebAssembly engine, gzipped; unchanged from the `@mujoco/mujoco` npm package | |
| | `MUJOCO_LICENSE` | MuJoCo's licence (Apache 2.0) | |
|
|
| The observation is built by the environment code on the demo page, so the weights alone do not reproduce the |
| behaviour. |
|
|
| ## Licence |
|
|
| The fighter's model, weights and tables are © 2026 Kakuto Technology GK, under |
| [CC BY 4.0](https://creativecommons.org/licenses/by/4.0/): you may use, share and adapt them for any purpose, including |
| commercially, **as long as you credit Kakuto with a link to [kakuto.io](https://kakuto.io)** wherever they are used, |
| e.g. on the page or screen that uses the model, or in your credits or about page: |
|
|
| > Fighter model by Kakuto (https://kakuto.io) |
|
|
| In a website or app, make "Kakuto" or the address a link to https://kakuto.io. If you changed the files, say so |
| ("Based on the fighter model by Kakuto (https://kakuto.io), modified"). Full terms: [`LICENSE`](LICENSE). |
|
|
| To cite it: |
|
|
| ```bibtex |
| @misc{kakuto_fighter_2026, |
| author = {{Kakuto Technology GK}}, |
| title = {Kakuto fighter}, |
| year = {2026}, |
| howpublished = {\url{https://huggingface.co/kakuto-io/fighter}}, |
| note = {https://kakuto.io} |
| } |
| ``` |
|
|
| MuJoCo's engine (`web/mujoco-3.16.0.wasm.gz`) is not covered: it is © DeepMind Technologies Limited, under the Apache |
| License 2.0 (`web/MUJOCO_LICENSE`). |
|
|
