Article
HAMPER: Staged skill learning and whole-body coordinated control for Unitree G1 basket carrying
Guyuehome
HAMPER reproduces Unitree G1 basket carrying in Isaac Lab, using a PPO whole-body policy and a five-stage state machine to chain together approach, squatting, threading the handle, and lifting and carrying, with pretrained weights provided for real replay on a local machine.
Part of the event: HAMPER basket-carrying solution for Unitree G1 reproduced
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