Humanoid Simulation with Marble

Turning real-world streets into 3D humanoid playgrounds with live physics and browser rendering.

Built by Jerry Han, this experiment turns Google Maps Street View imagery into a Marble-generated 3D world, then drops in a simulated Unitree G1 humanoid.

The goal: connect real-world imagery with humanoid simulation without manually modeling the environment.

Highlights

• Street imagery transformed into a 3D world with Marble
• A Unitree G1 humanoid running a walking policy
• Live server-side physics synchronized with browser rendering

How It Works

Marble converts street imagery into a 3D environment rendered with Three.js. MuJoCo runs the robot’s physics and walking policy on the server, streaming its state over WebSockets to animate the robot in the browser.

Tech Stack

• World Labs / Marble — 3D world generation
• Google Maps Street View — Source imagery
• Three.js — Browser rendering
• MuJoCo — Server-side physics
• WebSockets — Live robot state streaming
• Unitree G1 — Simulated humanoid

What’s Next

Adding live browser controls so visitors can drive the humanoid, and expanding to more street locations around the world.