Unitree Go2, Unitree G1 support for Nvidia Isaac Lab (Isaac Gym / Isaac Sim)
Train a Unitree G1 humanoid to perform a double spin kick using mjlab
An autonomy stack for the Unitree G1 humanoid, built on ROS 2.
A fully end-to-end framework for coordinating swarms of Unitree G1 humanoid robots to autonomously clean rooms
Predictive Style Matching (PSM), is method in which an offline predictor maps the robot’s lower-body state history and velocity commands to interpretable upper-body joint and gait targets that shape the rewards during training.
Low Level RL Controller for G1
VLM-RL Hierarchical Loco-Manupilation For Long-Horizon Tasks With G1 robot in Isaac Lab/Sim
Visual Testing Harness for AI Coding Agents in Robot Simulation
Easy to setup primitives motion library for Unitree G1 Humanoid.
A full-featured command-line controller for the Unitree G1/Go2 robots, using WebRTC.
Reference G1 deploy for WBC
NPZ Viewer / Player for any humanoid robots — drag-and-drop motion visualization in the browser
Common repository for running the experiments on the real robots and simulating in real-time.
Controlling the Unitree G1 robot in a simple way, using a UI, or scripts. Manipulation, pointcloud and simulation
宇树G1-基于大语言模型(LLM)的语音交互与控制框架，支持自然语言指令驱动手臂动作与运动控制。
End-to-end Unitree G1 dance pipeline: motion retargeting, BeyondMimic training, MuJoCo Sim2Sim, and Sim2Real.
Unitree G1 - Object detection with YOLO and ROS2 for the real robot.
Text-to-Physics for Unitree G1: type a motion description, get a physics-simulated humanoid performing it. Zero-shot via Kimodo + ProtoMotions GTP + MuJoCo.
DDC (Deployable Dynamic-CoM): a unified policy and method-agnostic sim2sim benchmark for humanoid single-leg stance; deploys on a real Unitree G1. arXiv:2608.00500
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