Give the humanoid
a goal.

Explore pickup, carrying, and door opening with the actual FIBER policy.

Step-2000 student · 3 Euler steps. Planner: 542 MB across three files, with W8 weights and FP32 computation. Actor: 135 MB, FP32. Physics and inference run in this browser. Desktop Chrome with WebGPU recommended.

Using the built-in model: a few-step distilled student planner with INT8 weights (loads automatically). It is smaller and faster than the paper's planner but may perform worse.

Advanced: use a local full-precision model

The playground runs the built-in quantized model by default. Optionally point this at an exported model folder containing the planner.condition, planner.time and planner.step.gpu ONNX files plus planner_meta.json, then click Apply to switch. Files are read locally in your browser and never uploaded. For the full-precision teacher, also open this page with ?planner=teacher (8 Euler steps).

YOUR TASK

Choose an interaction.

Choose an object to lift, or place a walking goal.

Pickup setup

One box. Select Pickup to lift it.

CURRENT PROMPTNo prompt selected

Choose a scene and launch the simulation.

Depth-conditioned planning—

Controls

WS Forward / back
AD Adjust waypoint
QE Turn · hold for continuous yaw
R Reset
White arrow · current heading
Blue arrows · conditioned yaw at 0.5 / 1.0 s
Walk: left-click + drag · goal and heading
Right-drag · orbit camera
Scroll · zoom
Select an object · choose Pickup or Grasp
Walk while holding · carry to a goal

Experimental simulation with a few-step distilled student planner (INT8), which may perform worse than the paper's planner. Goals can fail; reset to try again.

Give the humanoida goal.

Give the humanoid
a goal.