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

Free your Unitree G1 from cable connection

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

Easy to setup primitives motion library for Unitree G1 Humanoid.

Machine-readable robot ontologies for LLM agents — query what a robot can do, validate actions before they touch hardware. IEEE 1872-anchored. Ships Unitree G1 & AgiBot X2 packs.

Visual Testing Harness for AI Coding Agents in Robot Simulation

VLM-RL Hierarchical Loco-Manupilation For Long-Horizon Tasks With G1 robot in Isaac Lab/Sim

A full-featured command-line controller for the Unitree G1/Go2 robots, using WebRTC.

NPZ Viewer / Player for any humanoid robots — drag-and-drop motion visualization in the browser

Reference G1 deploy for WBC

Controlling the Unitree G1 robot in a simple way, using a UI, or scripts. Manipulation, pointcloud and simulation

Text-to-Physics for Unitree G1: type a motion description, get a physics-simulated humanoid performing it. Zero-shot via Kimodo + ProtoMotions GTP + MuJoCo.

Unitree G1 - Object detection with YOLO and ROS2 for the real robot.

Common repository for running the experiments on the real robots and simulating in real-time.

🤖 Teach the Unitree G1 humanoid to perform a double spin kick using mjlab, with training data, pretrained models, and deployment instructions.

Linux-first embedded runtime for humanoid whole-body-control (WBC) policy inference. One contract, multiple backends — Python SDK with a Rust core, ONNX and PyO3.

Unitree G1 - Main repository with documentation about the Saaki Project and links to related repos.