Apple releases HALO system, enabling Unitree G1 to perform whole-body skills such as crawling under tables and passing through door gaps zero-shot

Apple released the HALO humanoid whole-body motion control system, which procedurally generates 1,000 virtual residential scenes and synthesizes nearly 300 hours of paired data, enabling the Unitree G1 to master skills such as sitting on chairs, turning sideways to pass through a half-open door, crouching under a table, and pushing boxes.