# HAMPER: Staged skill learning and whole-body coordinated control for Unitree G1 basket carrying

- Source: Guyuehome
- Published: 2026-11-03T03:22:00.000Z
- RoboHot: https://robohot.news/en/items/eq9cpkwvzl859qsfovxcasusp
- Original: https://www.guyuehome.com/detail?id=2117338069939023873

## Summary

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.