Unitree G1

What the Unitree G1 can learn.

Each skill pairs neural pathways with target poses and a test the robot must pass with stimulation and fail without it.

1. 01Raise right arm1 pathway · 6 s testRaise the right arm only while the “right arm” pathway of the neurons is ON.
2. 02Two-arm choice2 pathways · 7 s testTwo pathways, two arms: whichever pathway the neurons answer on, that arm rises.
3. 03Look toward activity (watch-only)Watch-onlyNo stimulation: the robot turns toward whichever half of the array is more active.
4. 04Wave hello1 pathway · 6 s testThe right arm goes up and the forearm swings side to side only while “wave” is ON.

What the neurons can move.

17 controls in all. A skill sets their targets; the simulator does the rest.

Waist

yaw · roll · pitch

Left arm

shoulder pitch · shoulder roll · shoulder yaw · elbow · wrist roll · wrist pitch · wrist yaw

Right arm

shoulder pitch · shoulder roll · shoulder yaw · elbow · wrist roll · wrist pitch · wrist yaw

Real physics, on our servers.

The Unitree G1 is simulated with MuJoCo 3.12, the official WebAssembly build, on the server; your browser loads the same model only to draw it. The model comes unmodified from Google DeepMind’s MuJoCo Menagerie.

Engine

MuJoCo 3.12, WebAssembly, server-side

Model

MuJoCo Menagerie · unitree_g1

In the simulator

Humanoid, floating base held in place (no balance controller); waist and both arms are controllable.