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
- . (paused)
- one policy step (0.02 s), also the Step button
The camera follows the robot's position and keeps its view direction. Drag to orbit.
Face the wall and hold forward to vault
Tip 1 of 4
Tips
Loading the G1 simulation
Starting
About 50 MB on first load: the MuJoCo engine, the robot meshes and the policy network.