Roadmap

Roadmap#

Backlog: GitHub Issues — one issue ≈ one PR (Closes #N in commit messages).

WBC-MJLab is an open, modular stack for whole-body motion tracking on mjlab. We welcome contributions, bug reports, and community feedback — whether that is a new robot extension, a paper preset, deploy/runtime work, or documentation fixes. If something is missing or unclear, open an issue or see Contributing.

Open — methods & training#

  • ☐ BeyondMimic as default baseline stack — #24

  • ☐ Remaining BeyondMimic gaps beyond Wbc-G1-BinaryFailure

Open — sim → real & demo#

  • ☐ Modular deploy + web demo runtimes — robot-agnostic consumers of WBC-MJLab artifacts (policy.onnx + config.yaml + clips); not G1-only; easy path for another Unitree robot (e.g. H2) — #38

  • ☐ Unify reference format between deploy and browser demo (shared schema, one observation pipeline) — #29

Open — data & robots#

  • ☐ Retargeting quality — fix floating-above-ground references (H2 first); improves training and deploy reference quality — #39

  • ☐ More robots via extension packages (beyond in-tree G1 + reference H2)

Open — developer experience#

  • ☐ Technical report + CITATION.cff — #31

  • ☐ CI (ruff + wbc-mjlab-list-envs smoke)

  • ☐ Dockerfile (CUDA + uv + MUJOCO_GL=egl)

  • ☐ Unit tests beyond import smoke

Shipped#

  • ☑ PyPI package wbc-mjlab

  • ☑ Sphinx docs + GitHub Pages (docs site)

  • ☑ Extension API (register_wbc_extension) + autodoc API reference

Related repos (not tracked in this issue list): wbc-g1-deploy, wbc-demo, wbc-mjlab-extension-h2.