# G1 Dribble: End-to-End Reinforcement Learning for Humanoid Robot Soccer Dribbling Control

- Source: Guyuehome
- Published: 2026-11-02T11:16:00.000Z
- RoboHot: https://robohot.news/en/items/zz3crd5cxun416gisy8md138j
- Original: https://www.guyuehome.com/detail?id=2106573541894811650

## Summary

G1 Dribble uses end-to-end reinforcement learning to achieve humanoid robot soccer dribbling; the walking task's weights are not adjusted, and velocity commands drive both the body and the ball. The author tested it locally in MuJoCo-Warp and recorded eighteen cloud sessions, reporting touch rhythm, the distance band for re-touching the ball, and failure modes, including that a centered start steps over the ball without touching it, a first touch occurs only when offset to the side, and at 1.5 meters per second it knocks the ball away directly.