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1. IsaacLab IsaacLab Public

   Research fork of NVIDIA Isaac Lab that trains a 23-DoF Unitree G1 to reproduce a reference jump with RSL-RL: a six-phase jump task, CSV reference-motion loader, phase-weighted tracking rewards, and…

   Python

2. Holosoma Holosoma Public

   Fork of amazon-far/holosoma adding Unitree G1 23-DoF support: robot model and meshes, retargeter changes, and a Kimodo to G1 23-DoF retargeting guide (English and Japanese). Work lives on feature/g…

   Python

3. GEM-X GEM-X Public

   Fork of NVlabs/GEM-X adding a 23-DoF Unitree G1 retargeting target, ground-plane estimation to reduce foot-float and root drift in recovered motion, and Linux/Docker build fixes. Check out integrat…

   Python

4. SOMA-Retargeter SOMA-Retargeter Public

   Fork of NVIDIA/soma-retargeter adding a Unitree G1 23-DoF retargeting target alongside upstream's 29-DoF one, with a configurable robot model. The 29-DoF path is unchanged. Work lives on feature/g1…

   Python

5. ProtoMotions ProtoMotions Public

   Fork of NVlabs/ProtoMotions adding Unitree G1 23-DoF support and sim2real tooling: robot config, MJCF/USD assets, qpos to .motion converter, domain randomization and MuJoCo sim2sim validation. Work…

   Python

6. RoboJuDo RoboJuDo Public

   Fork of HansZ8/RoboJuDo adding ProtoMotions tracker deployment for the Unitree G1: reference-mode blending in the tracker policy, the unitree_cpp build patch, and a G1 deployment runbook. Check out…

   Python