# Amazon FAR open-sources Holosoma, a full-stack sim-to-real codebase for humanoid robots

- Source: Pieter Abbeel
- Published: 2025-12-01T23:00:41.000Z
- RoboHot: https://robohot.news/en/items/l4tzv3qmnbzwhvkesj687amao
- Original: https://x.com/pabbeel/status/1995629150082924644

## Summary

Amazon FAR has released Holosoma, a full-stack solution, and open-sourced a complete codebase covering multiple simulation backends, training, motion retargeting, and real-world inference. Pieter Abbeel shared and added that the infrastructure was built for humanoid robots and can also be readily adapted into a quadruped version (the quadruped part is already included), and that it contains a great deal of infrastructure experience and convenience tools the team relies on daily.

## Why it matters

The open-source full-stack codebase covers both humanoids and quadrupeds, so researchers can directly reuse its complete pipeline from simulation training to real-world inference.