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Reinforcement & robot learning

Flat-ground locomotion with the stock G1

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.

Velocity tracking and entropy-coefficient ablations on the stock Isaac Lab G1, with multi-seed training and independent simulation evaluation.

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

Main observations

This model has a 23-DoF body plus hands, totaling 37 controlled joints; it is distinct from the 29-DoF G1 experiment.

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.