ProtoMotions just released v3.1, a HUGE upgrade focused on making it easier to train robot motion in simulation and deploy it on real hardware.

It already has +1k ⭐️ - let's see in couple of weeks after this upgrade is released.

The new modular setup is a big improvement. Instead of one giant block of code, they split everything into separate pieces for Control, Observations, Rewards, and Terminations.

This means you can swap parts in and out without rewriting everything.

Training got way faster, meaning that you can now train a motion tracker to learn the entire AMASS motion dataset perfectly in under 24 hours. Before this, it took much longer.

Sim-to-real transfer is now built in. They added realistic sensor noise, random pushes to test balance, and automatic friction settings that work across IsaacGym, IsaacLab, and Newton. This means what works in simulation actually works on real robots without spending weeks tweaking parameters.

Last but not least, the deployment pipeline is clean. ONNX export now includes the full control loop: sensor data goes in, motor commands come out. No manual conversion needed.

Training is faster, the code is cleaner, and deployment is straightforward.

If you're working on humanoid walking, robot manipulation, or any character animation for robots, this is worth checking out.