SuperMimic web demo — License

1. Proprietary materials

This web demo, including its program code (HTML, JavaScript and WebAssembly), the trained policy and world-model parameters, their architecture and configuration, the encoded motion data, and the robot visualisation assets prepared for it (together, the "Materials"), is the confidential and proprietary property of UC Berkeley. The Materials are protected by copyright and other intellectual-property laws. Except for the third-party components listed in section 4, no licence is granted to you by implication, estoppel or otherwise.

2. Permitted use

You may view and interact with the demo in a web browser, as served from its official location, for your personal, non-commercial evaluation of the SuperMimic research.

3. Restrictions

You may not, and may not permit or help anyone else to:

copy, download for retention, mirror, host, redistribute, sell, sublicense or otherwise make the Materials available, in whole or in part;
modify, adapt, translate or create derivative works of the Materials;
reverse engineer, decompile, disassemble, decrypt, de-obfuscate or otherwise attempt to derive the source code, model parameters, architecture, internal representations or training methods of the Materials, or circumvent any technical measure that protects them, except to the extent applicable law expressly permits this despite this restriction;
extract, reconstruct, record or store the model parameters, network activations, internal state or data of the Materials, including by reading the memory of a running session;
use the Materials, their outputs or anything derived from them to train, fine-tune, distil, imitate or evaluate any other model or system;
access the Materials by automated means (scripts, bots, headless browsers or scrapers), or query them systematically to collect their inputs and outputs;
use the Materials for any commercial purpose; or
remove or alter any copyright, licence or attribution notice.

4. Third-party components

The demo includes the third-party components below. Each is provided under its own licence, reproduced or linked here; sections 1–3 do not limit your rights in these components as obtained from their original sources.

three.js and its add-ons (OrbitControls, RoomEnvironment)

The MIT License

Copyright © 2010-2025 three.js authors

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.

MuJoCo (WebAssembly build)

mjlab

Unitree G1 robot model

BSD 3-Clause License

Copyright (c) 2016-2024 HangZhou YuShu TECHNOLOGY CO.,LTD. ("Unitree Robotics")
All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this
   list of conditions and the following disclaimer.

2. Redistributions in binary form must reproduce the above copyright notice,
   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.

3. Neither the name of the copyright holder nor the names of its
   contributors may be used to endorse or promote products derived from
   this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Motion data

5. No warranty

The Materials are provided "as is", without warranty of any kind, express or implied, including the warranties of merchantability, fitness for a particular purpose and non-infringement. In no event shall UC Berkeley be liable for any claim, damages or other liability arising from or in connection with the Materials or their use.

By using the demo you agree to these terms. If you do not agree, do not use the demo.