Humanoid locomotion fine-tune

Pull a foundation walking policy, fine-tune in sim, deploy to G1.

About this demo

Pull a foundation locomotion policy from the Model Hub, fine-tune for your terrain in cloud simulation with PPO + domain randomization, and deploy to a humanoid in under an hour. Cross-embodiment transfer between G1/H1.

Highlights

→Cross-embodiment transfer
→Domain-randomized PPO post-training
→ONNX export to Jetson
→Foot-contact telemetry overlay

Supported robots

Unitree G1Unitree H1Stanley H1

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