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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="description"
content="Project Instinct">
<meta name="keywords" content="Instinct-Level intelligences, Whole-body Control, Deep Learning, Robotics">
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<title>Project Instinct</title>
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<a class="navbar-link">
Research Projects
</a>
<div class="navbar-dropdown">
<a class="navbar-item" href="https://robot-parkour.github.io">
Robot Parkour Learning
</a>
<a class="navbar-item" href="https://humanoid4parkour.github.io">
Humanoid Parkour Learning
</a>
<a class="navbar-item" href="https://project-instinct.github.io/embrace-collisions">
Embrace Collisions
</a>
<a class="navbar-item" href="https://project-instinct.github.io/deep-whole-body-parkour">
Deep Whole-body Parkour
</a>
<a class="navbar-item" href="https://project-instinct.github.io/hiking-in-the-wild">
Hiking in the Wild
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<section class="hero">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<h1 class="title is-1 publication-title">Project Instinct</h1>
<div class="is-size-5 publication-authors">
<span class="author-block">
<a href="https://ziwenzhuang.github.io">Ziwen Zhuang</a><sup>12</sup>,</span>
<a href="https://shaotingzhu.github.io">Shaoting Zhu</a><sup>12</sup>,</span>
<a href="https://qxjyqzw.github.io">Mengjie Zhao</a><sup>1</sup>,</span>
<a href="https://hangzhaomit.github.io">Hang Zhao</a><sup>12</sup>,</span>
</div>
<div class="is-size-5 publication-authors">
<span class="author-block"><sup>1</sup>IIIS, Tsinghua University</span>
<span class="author-block"><sup>2</sup>Shanghai Qi Zhi Institute</span>
</div>
<div class="column has-text-centered">
<div class="publication-links">
<!-- Video Link. -->
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<a href="https://youtu.be/OG3b46-TLVQ"
class="external-link button is-normal is-rounded is-dark">
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<i class="fab fa-youtube"></i>
</span>
<span>YouTube</span>
</a>
</span>
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<a href="https://www.bilibili.com/video/BV1aNr6BiEnL" class="external-link button is-normal is-rounded is-dark" target="_blank">
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</svg>
</span>
<span>Bilibili</span>
</a>
</span>
<!-- Twitter Link. -->
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</span>
<span>Twitter</span>
</a>
</span>
<!-- Code Link. -->
<span class="link-block">
<a href="https://github.com/project-instinct/instinctlab"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>InstinctLab</span>
</a>
</span>
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<a href="https://github.com/project-instinct/instinct_rl"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
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</span>
<span>Instinct_RL</span>
</a>
</span>
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<a href="https://github.com/project-instinct/instinct_onboard"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>Instinct Onboard</span>
</a>
</span>
<span class="link-block">
<a href="https://github.com/project-instinct/robot-motion-editor"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>Robot Motion Editor</span>
</a>
</span>
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="hero teaser">
<div class="container is-max-desktop">
<div class="hero-body">
<video poster="./static/images/Project-Instinct-cover-16-9.jpg" id="teaser" autoplay muted loop playsinline height="100%" style="min-height: 400px;">
<source src="./static/videos/project-instinct-teaser.mp4"
type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
<span class="dnerf">Instinct-Level intelligences</span> for whole-body control.
</h2>
</div>
</div>
</section>
<section class="hero is-light is-small">
<div class="hero-body">
<div class="container">
<div id="results-carousel" class="carousel results-carousel">
<div class="item item-steve">
<video poster="" id="album0" autoplay muted loop playsinline height="100%">
<source src="./static/videos/distilled-case0.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-blueshirt">
<video poster="" id="album6" autoplay muted loop playsinline height="100%">
<source src="./static/videos/instinct-proactive-gait.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-chair-tp">
<video poster="" id="album1" autoplay muted loop playsinline height="100%">
<source src="./static/videos/distilled-case1.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-blueshirt">
<video poster="" id="album7" autoplay muted loop playsinline height="100%">
<source src="./static/videos/instinct-safety.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-shiba">
<video poster="" id="album2" autoplay muted loop playsinline height="100%">
<source src="./static/videos/distilled-case2.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-fullbody">
<video poster="" id="album3" autoplay muted loop playsinline height="100%">
<source src="./static/videos/distilled-case3.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-fullbody">
<video poster="" id="album8" autoplay muted loop playsinline height="100%">
<source src="./static/videos/kneelClimb-1-web.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-blueshirt">
<video poster="" id="album4" autoplay muted loop playsinline height="100%">
<source src="./static/videos/distilled-case4.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-mask">
<video poster="" id="album5" autoplay muted loop playsinline height="100%">
<source src="./static/videos/distilled-case5.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-mask">
<video poster="" id="album9" autoplay muted loop playsinline height="100%">
<source src="./static/videos/kneelClimb-2-web.mp4"
type="video/mp4">
</video>
</div>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<!-- Abstract. -->
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>
We present a unified framework from algorithm, environment, dataset curation, and deployment for Instinct-Level intelligence on humanoid robots.
</p>
</div>
</div>
</div>
<!--/ Abstract. -->
<!-- Paper video. -->
<!-- <div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Video</h2>
<div class="publication-video">
<iframe src="https://www.youtube.com/embed/MrKrnHhk8IA?rel=0&showinfo=0"
frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
</div>
</div>
</div> -->
<!--/ Paper video. -->
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<!-- Abstract. -->
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Research Projects</h2>
<br>
<br>
<!-- align text left -->
<div class="content has-text-left">
<h3 class="title is-4"><a href="https://project-instinct.github.io/embrace-collisions">Embrace Collisions: Humanoid Shadowing for Deployable Contact-Agnostics Motions</a>
</h3>
<div class="is-size-6 publication-venue has-text-left">
<div class="is-size-6 publication-authors no-bold has-text-left">
<span class="author-block">
<a href="https://ziwenzhuang.github.io">Ziwen Zhuang</a><sup>†</sup>,</span>
<span class="author-block">
<a href="https://hangzhaomit.github.io">Hang Zhao</a>,</span>
</div>
<span class="venue-block">Conference on Robot Learning (CoRL) 2025</span> <br>
</div>
<div class="column has-text-centered">
<div class="publication-links">
<div class="column has-text-centered">
<!-- arXiv Link. -->
<span class="link-block">
<a href="https://arxiv.org/abs/2502.01465" class="external-link button is-normal is-rounded is-dark" target="_blank">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv</span>
</a>
</span>
<!-- Video Link. -->
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<a href="https://youtu.be/YbHLuIssktc" class="external-link button is-normal is-rounded is-dark" target="_blank">
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</span>
<span>YouTube</span>
</a>
</span>
<!-- Bilibili Link. -->
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<a href="https://www.bilibili.com/video/BV1UFPReKEhj" class="external-link button is-normal is-rounded is-dark" target="_blank">
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</svg>
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<span>Bilibili</span>
</a>
</span>
</div>
</div>
</div>
</div>
<div class="content has-text-left">
<h3 class="title is-4"><a href="https://project-instinct.github.io/deep-whole-body-parkour">Deep Whole-Body Parkour</a>
</h3>
<div class="is-size-6 publication-venue has-text-left">
<div class="is-size-6 publication-authors no-bold has-text-left">
<span class="author-block">
<a href="https://ziwenzhuang.github.io">Ziwen Zhuang</a><sup>†</sup>,</span>
<span class="author-block">
<a href="https://shaotingzhu.github.io">Shaoting Zhu</a><sup>†</sup>,</span>
<span class="author-block">
<a href="https://qxjyqzw.github.io">Mengjie Zhao</a>,</span>
<span class="author-block">
<a href="https://hangzhaomit.github.io">Hang Zhao</a>,</span>
</div>
<span class="venue-block">In Submission</span> <br>
</div>
<div class="column has-text-centered">
<div class="publication-links">
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<!-- arXiv Link. -->
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<a href="https://arxiv.org/abs/2601.07701" class="external-link button is-normal is-rounded is-dark" target="_blank">
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<span>arXiv</span>
</a>
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<span>YouTube</span>
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<div class="content has-text-left">
<h3 class="title is-4"><a href="https://project-instinct.github.io/hiking-in-the-wild">Hiking in the Wild: A Scalable Perceptive Parkour Framework for Humanoids</a>
</h3>
<div class="is-size-6 publication-venue has-text-left">
<div class="is-size-6 publication-authors no-bold has-text-left">
<span class="author-block">
<a href="https://shaotingzhu.github.io">Shaoting Zhu</a><sup>†</sup>,</span>
<span class="author-block">
<a href="https://ziwenzhuang.github.io">Ziwen Zhuang</a><sup>†</sup>,</span>
<span class="author-block">
<a href="https://qxjyqzw.github.io">Mengjie Zhao</a>,</span>
<span class="author-block">
<a href="https://hangzhaomit.github.io">Hang Zhao</a>,</span>
</div>
<span class="venue-block">In Submission</span> <br>
</div>
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<!-- arXiv Link. -->
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<a href="https://arxiv.org/abs/2601.07718" class="external-link button is-normal is-rounded is-dark" target="_blank">
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<span>arXiv</span>
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<span>YouTube</span>
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<!-- Bilibili Link. -->
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<span>Bilibili</span>
</a>
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</section>
<section class="section">
<div class="container is-max-desktop">
<h2 class="title is-3 has-text-centered">Auto position-correction from depth sensing</h2>
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<div class="content">
<video id="convergence-kneelClimbStep" autoplay muted loop playsinline height="100%">
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<video id="convergence-diveRoll" autoplay muted loop playsinline height="100%">
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<video id="convergence-jumpSit" autoplay muted loop playsinline height="100%">
<source src="./static/videos/convergence-jumpSit.mp4"
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<video id="convergence-rollVault" autoplay muted loop playsinline height="100%">
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</div>
</div>
</div>
</section>
<section class="section">
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<h2 class="title is-3 has-text-centered">Observed Instinct-Level Behaviors</h2>
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<video id="instinct-level-behavior0" autoplay muted loop playsinline height="100%">
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<video id="instinct-level-behavior1" autoplay muted loop playsinline height="100%">
<source src="./static/videos/instinct-safety.mp4"
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<video id="instinct-level-behavior2" autoplay muted loop playsinline height="100%">
<source src="./static/videos/instinct-proactive-gait.mp4"
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<section class="section">
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<h2 class="title is-3 has-text-centered">Depth Onboard</h2>
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</section>
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<h2 class="title is-3 has-text-centered">Repeated Tests</h2>
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<video id="repeated-2" autoplay muted loop playsinline height="100%">
<source src="./static/videos/kneelClimb-2-web.mp4"
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</video>
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<video id="repeated-3" autoplay muted loop playsinline height="100%" onloadstart="this.playbackRate = 8.0;">
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<h2 class="title is-3 has-text-centered">Downstream usecase: Distill from tracking policies</h2>
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<video id="distilled-case2" autoplay muted loop playsinline height="100%">
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