---
title: README
emoji: 🤖
colorFrom: gray
colorTo: green
sdk: static
pinned: false
---

# LimX Dynamics

Open-source embodied AI models, datasets and tools for LimX Dynamics humanoid and legged robots.

LimX Dynamics is a general-purpose robotics company focusing on full-size humanoid robots, legged robots and loco-manipulation platforms, advancing embodied AI into the physical world.

This page hosts our open-source models, datasets and tools, so developers and researchers can get our robots running quickly.

## Robots

| Robot | Description | Robot models (URDF / MJCF / USD) |
| --- | --- | --- |
| **TRON 1** | Multi-modal biped robot, the gateway to humanoid RL research | [Hugging Face](https://huggingface.co/limxdynamics/tron1-robot-description) · [GitHub](https://github.com/limxdynamics/tron1-robot-description) |
| **TRON 2** | Multi-form embodied robot for loco-manipulation | [tron2-robot-description](https://github.com/limxdynamics/tron2-robot-description) |
| **LimX Oli** | Full-size general-purpose humanoid robot | [Hugging Face](https://huggingface.co/limxdynamics/oli-description) · [GitHub](https://github.com/limxdynamics/humanoid-description) |
| **LimX Luna** | Full-size interactive humanoid robot | [Hugging Face](https://huggingface.co/limxdynamics/luna-description) · [GitHub](https://github.com/limxdynamics/luna-description) |

## Open-source highlights

- **[FluxVLA Engine](https://huggingface.co/limxdynamics/FluxVLAEngine)**: an all-in-one VLA engineering platform, from data collection to deployment ([GitHub](https://github.com/limxdynamics/FluxVLA) · [Docs](https://fluxvla.limxdynamics.com))
- **[FluxVLAData](https://huggingface.co/datasets/limxdynamics/FluxVLAData)** and **[FluxBisimData](https://huggingface.co/datasets/limxdynamics/FluxBisimData)**: datasets for VLA training and evaluation
- **[tron2-openpi-models](https://huggingface.co/limxdynamics/tron2-openpi-models)**: Pi0 / Pi0.5 checkpoints for TRON 2 manipulation ([tron2_openpi](https://github.com/limxdynamics/tron2_openpi))

- **[tron1-rl-locomotion-policies](https://huggingface.co/limxdynamics/tron1-rl-locomotion-policies)**: RL locomotion policies (ONNX) for every TRON 1 form: point-foot, sole-foot and wheel-foot
- **[tron2-rl-locomotion-policies](https://huggingface.co/limxdynamics/tron2-rl-locomotion-policies)**: RL locomotion policies (ONNX) for TRON 2 sole-foot, wheel-foot and dual-arm models
- **[oli-rl-policies](https://huggingface.co/limxdynamics/oli-rl-policies)**: walking and motion-imitation policies (ONNX) for the LimX Oli humanoid
- **Robot models** ready for MuJoCo / Isaac Sim / ROS: [oli-description](https://huggingface.co/limxdynamics/oli-description) · [luna-description](https://huggingface.co/limxdynamics/luna-description) · [tron1-robot-description](https://huggingface.co/limxdynamics/tron1-robot-description)

More SDKs, simulation and RL deployment code: [github.com/limxdynamics](https://github.com/limxdynamics)

## Business inquiries

Interested in purchasing our robots or enterprise support? Contact us at **opensource@limxdynamics.com**

## Links

[Website](https://www.limxdynamics.com/en) · [GitHub](https://github.com/limxdynamics) · [YouTube](https://www.youtube.com/@LimXDynamics) · [Bilibili](https://space.bilibili.com/1172054289)

---

**逐际动力**专注于全尺寸人形机器人、足式机器人与移动操作平台。这里发布我们开源的模型、数据集和工具，帮助开发者快速上手我们的机器人。采购或企业合作请联系 **opensource@limxdynamics.com**。