Unitree G1

The Unitree G1 example is the advanced robot path after the inverted pendulum tutorial. It shows how GeneLab scales to humanoid locomotion and motion imitation.

Tasks

Task id	Shows
Genelab-Velocity-Flat-Unitree-G1-v0	Velocity tracking on flat ground.
Genelab-Tracking-Flat-Unitree-G1-v0	Reference motion tracking.

Installing

uv pip install -e examples/unitree
genelab list tasks

Velocity tracking

genelab play Genelab-Velocity-Flat-Unitree-G1-v0 --vis --steps 500
genelab train Genelab-Velocity-Flat-Unitree-G1-v0 \
  --num_envs 4096 \
  --max_iterations 1500

Replay:

genelab play Genelab-Velocity-Flat-Unitree-G1-v0 \
  --checkpoint logs/rsl_rl/g1_velocity_flat/<run>/model_1500.pt

Motion imitation

python -m genelab_unitree.replay_motion
genelab train Genelab-Tracking-Flat-Unitree-G1-v0 \
  --num_envs 4096 \
  --max_iterations 30000

The default clip is fetched through the asset zoo and cached locally.

See also

• RL experiments
• Asset zoo