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This repository implements teleoperation of the Unitree humanoid robot using XR Devices.
Sim-to-real RL training and deployment tools for the Unitree Go1 robot.
- go1
- sim-to-real
- unitree
- reinforcement-learning
This is a repository for reinforcement learning implementation for Unitree robots, based on IsaacLab.
Independent reproduction of SuperMimic (arXiv:2610.28480) on mjlab/MuJoCo Warp, written from the paper before the official release. For the authors' code see HybridRobotics/supermimic. Kept as a record: experiment log, full BONES-SEED results, checkpoint.
- humanoid
- mjlab
- motion-tracking
- mujoco
Whole-body motion tracking for the Unitree G1 in about 3 minutes on one GPU.
- humanoid-robotics
- lafan1
- mjlab
- motion-tracking
Whole-body motion tracking for the Unitree G1 in under 3 minutes on average on one GPU: return 0.82 with 0/40 clips failed, held from 2.74 min (mean of 15 seeds, range 2.21-3.61, fine checkpoints), 11.87 it/s (world model + Muon + overlapped CUDA streams, mjlab)
- humanoid
- robot-learning
- supermimic
- world-model
Whole-body motion tracking for the Unitree G1 in under a minute. BlinkMimic's world-model trainer rebuilt in JAX, 3.7x faster on four H100s.
Transformer-SRU LiDAR navigation for Unitree G1: Isaac Lab training, MuJoCo validation, and ROS 2 deployment.