TechniaHQ | humanoid robots(@techniahqrobot):The Unitree G1 executed kicks forward jumps and squats after ASAP trained policies from retargeted human motion and corrected the sim to real gap with rollout data from the physical robot. The key detail is the hardware loop. The team measured how the real G1 responded trained a delta action model from that data and used it to reduce the mismatch between MuJoCo and the robot. This matters because humanoid control often breaks when the foot hits the floor. A jump or fast leg swing can expose errors in timing friction torque and balance. ASAP shows how learned motion can move from simulation onto real hardware with less collapse at contact.

TechniaHQ | humanoid robots@techniahqrobot

2026.06.24 05:03

The Unitree G1 executed kicks forward jumps and squats after ASAP trained policies from retargeted human motion and corrected the sim to real gap with rollout data from the physical robot. The key detail is the hardware loop. The team measured how the real G1 responded trained a delta action model from that data and used it to reduce the mismatch between MuJoCo and the robot. This matters because humanoid control often breaks when the foot hits the floor. A jump or fast leg swing can expose errors in timing friction torque and balance. ASAP shows how learned motion can move from simulation onto real hardware with less collapse at contact.