Unitree G1 crawl policy deployed to hardware! Plenty of room for improvement, but it's a start.

I made a face mask mount for the Unitree G1 to get it ready for Halloween. If you’d like to dress up your robot too, here’s the Onshape link: https://t.co/r9NOQEVJkd

Great idea

Used nano-banana to create a template for the kids to brainstorm Halloween porch ideas

Mocap BVH -> G1 vibecode progress

RL imitation of our procedurally generated crawl animation looks promising (wip repo: https://t.co/LyQHacR4AU)

one more

using nano banana to make fake little golden books for conspiracy theories

Created a procedural crawl editor with Mujoco and Mink to create data for imitation learning

Google's AI Overview is getting solid!

Training environment stood up using the poses from our pose tool along USD with the custom 3D forearms!

Printed new version of the G1 forearm after the squash ball ripped off the old one (onshape: https://t.co/wDfaMHHvGs)

Testing poses irl - guess I have to crank kp...

Vibecoded G1 posing tool in Mujoco - much simpler than the rigged Blender export route and could add lil helper features like mirroring and json import/export (code: https://t.co/y9fac6dk5j)

I'm going to pivot to something simpler since I just need a few poses and there's quite a bit to do to make this useful (joint constraints, export back to robot joint values) but here's the code if anyone is interested

Prototyped a simple rigged glTF exporter for my G1 MJCF so I could pose the robot in Blender

New article breaking down how to put together shapes from disconnected paths, using a planar graph. There are pretty images. https://t.co/jLIBJXE7hB

Incredible evolution of "Neural Video Games": from GQN (2018) to Genie3 (2025). The future is exciting! https://t.co/EYygTAa3UF

G1 surgery