# G1 Brunson: Humanoid Robot Between-the-Legs Dribbling Control Based on Deep Visual Reinforcement Learning

- Source: Guyuehome
- Published: 2026-11-03T03:16:00.000Z
- RoboHot: https://robohot.news/en/items/o29epvhu3uarp9mi97zd3hytj
- Original: https://www.guyuehome.com/detail?id=2106401109254893569

## Summary

G1 Brunson uses event-based rewards and asymmetric actor-critic training, bringing the depth camera directly into the observation loop during training to form a G1 whole-body dribbling policy. Reproducing the official weights locally in MuJoCo gave an average of 43.5 crossovers over 12 episodes with zero falls, matching the official results.