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HAMPER basket-carrying solution for Unitree G1 reproduced

1 reports · 1 sources

Guyuehome released a reproduction tutorial for the HAMPER basket-carrying solution for the Unitree G1, completed in Isaac Lab. The solution chains a PPO whole-body policy with a five-stage state machine, linking the approach, squat, handle-threading, and lifting-and-carrying steps into a single pipeline, and provides pretrained weights for real playback on a local machine. The currently public information is limited to the reproduction workflow in the simulation environment and weight playback; the solution's carrying performance on a real robot has not yet been described.

Report timeline

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

    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.

    Guyuehome ·

Related topics

Unitree RoboticsMotion controlGrasping and manipulationRobot models and learningData and simulationGuides and practice

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