ACPUnitree G1 parkour policy
MuJoCo in the browser · contact-planner policy at 50 Hz · 23 DoF
BETAThe browser simulation behaves slightly differently from our MuJoCo, Isaac Lab and real-robot runs, and the joystick-style controls only approximate the goal commands used in training.
Starting
sim 0.0 sspeed 1.00x
stick fwd 0.00 side 0.00 turn 0.00
Controls
- W · S / ↑ ↓
- move the goal forward or back
- A · D
- move the goal left or right (not while moving forward, back or turning)
- Q · E / ← →
- turn the goal heading
- Gamepad
- left stick goal, right stick turn
- Backspace
- reset: robot lies face down, FixStand 1 s, then the policy stands it up (about 2 s; controls wait for it)
- F · V · P
- FixStand · policy · passive, as in the controller terminal
- R (hold)
- turn the camera behind the robot's heading
- C · Space
- follow camera on / off · pause
The camera follows the robot's position and keeps its view direction. Drag to orbit.
Loading the G1 simulation
Starting
About 50 MB on first load: the MuJoCo engine, the robot meshes and the policy network.