Jeff LiuExperiment Reports
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Reinforcement & robot learning

29-DoF G1 locomotion and Sim2Sim transfer

Original report

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Historical report preserved from the July 2026 Robot Learning Dashboard archive. Text, diagrams and experimental data remain in their original language.

An asymmetric actor–critic with deployment-format observations is trained in Isaac Lab and transferred to MuJoCo, documenting cross-engine control debugging.

Experiment date
Original authors
The original archive credits Jeff Liu; the individual report has no separate byline.
Report language
Chinese

Main observations

The report distinguishes implicit and explicit PD in deployment and retains transfer replays and training data; this archive records a single training seed.

Scope and limitations

Conditions, data and conclusions are preserved from the July 2026 archive. These simulation experiments do not establish hardware validation.

Source

View the original source and its recorded version

Preserved as a historical record. The report describes the software, conditions and observations of its original experiment.