Week 2 — Making the G1 Walk
Building the Unitree G1 in MuJoCo, running a trained walking policy, and finding out why it could not turn on the spot.
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Week 1 — What a Pendulum Taught Me About Humanoid Control
Loading the Unitree G1 in MuJoCo, an integrator error I could predict to the millimetre, and what a single pendulum taught me about PD control, stability and...