Velocity tracking and sim-to-sim transfer for Unitree H1 humanoid locomotion using reinforcement learning.
Unitree H1 humanoid walking via DeepMimic-style imitation learning — MuJoCo MJX + JAX, 4096 parallel envs, 9000 FPS, full 19-DOF control against real human mocap data
RL-based framework for robust bipedal locomotion on uneven terrains and staircases using the Unitree H1 humanoid robot in the Genesis simulator with PPO, curriculum learning, gait phase generation, and domain randomization.
PPO vs. SAC benchmarking for Unitree H1 humanoid standing in MuJoCo. PPO converges 7x faster; both achieve stable 20-second episodes after reward engineering fixes.
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