# Unitree G1 Glossary # Each term has: full_name, definition, unit (if applicable), typical_range, related_terms, related_topics # Organized by category, alphabetical within each category terms: # ============================================================ # HARDWARE # ============================================================ - term: "actuator" full_name: "Joint Actuator" definition: | Electric motor + gearbox assembly that drives a robot joint. The G1 uses low-inertia PMSM motors with compact planetary gearboxes, hollow shafts, and dual encoders per joint. unit: "Nm (torque output)" typical_range: "90-120 Nm (knee, varies by variant)" related_terms: ["pmsm", "planetary_gearbox", "joint", "dual_encoder"] related_topics: ["joint-configuration", "hardware-specs"] - term: "backdrivable" full_name: "Backdrivable Actuator" definition: | An actuator design where external forces can move the output shaft even when the motor is not powered. Enables compliant behavior and safe human-robot interaction. The G1's actuators are backdrivable. unit: null typical_range: null related_terms: ["actuator", "pmsm", "planetary_gearbox"] related_topics: ["joint-configuration"] - term: "crossed_roller_bearing" full_name: "Crossed Roller Bearing" definition: | Industrial-grade bearing with alternating roller orientations, providing high rigidity and load capacity in a compact form factor. Used in G1 joint assemblies. unit: null typical_range: null related_terms: ["actuator", "joint"] related_topics: ["joint-configuration"] - term: "dex3_1" full_name: "Dex3-1 Three-Fingered Dexterous Hand" definition: | Unitree's 3-finger dexterous hand with 7 DOF per hand (thumb 3, index 2, middle 2). Features 33 tactile sensors and force-position hybrid control. Available on EDU A/B variants. unit: null typical_range: "7 DOF per hand, 33 tactile sensors" related_terms: ["inspire_hand", "tactile_sensor", "force_position_hybrid"] related_topics: ["manipulation", "joint-configuration"] - term: "dof" full_name: "Degrees of Freedom" definition: | The number of independent joint axes the robot can actuate. The G1 is available in 23-DOF (base), 29-DOF (EDU), and 43-DOF (Ultimate, including dexterous hands) configurations. unit: "count" typical_range: "23-43 depending on variant" related_terms: ["joint", "actuator"] related_topics: ["joint-configuration", "hardware-specs"] - term: "inspire_hand" full_name: "INSPIRE DFX Dexterous Hand" definition: | Full 5-finger advanced dexterous hand available on G1 Flagship Version C. Provides enhanced precision manipulation compared to the Dex3-1. Compatible with ROS2 teleoperation. unit: null typical_range: null related_terms: ["dex3_1", "manipulation"] related_topics: ["manipulation"] - term: "joint" full_name: "Robot Joint" definition: | A single rotational axis connecting two links, driven by an actuator. Named using Unitree's convention: {side}_{body_part}_{axis} (e.g., left_hip_pitch, right_knee). unit: "rad (position), rad/s (velocity)" typical_range: "±2.97 rad max (hip_roll), 0-2.88 rad (knee)" related_terms: ["dof", "actuator", "dual_encoder"] related_topics: ["joint-configuration", "equations-and-bounds"] - term: "planetary_gearbox" full_name: "Planetary Gearbox" definition: | Compact gear reduction system used in G1 actuators. Provides high torque density in a small form factor. Gear ratios per joint not yet published. unit: null typical_range: null related_terms: ["actuator", "pmsm", "backdrivable"] related_topics: ["joint-configuration"] - term: "pmsm" full_name: "Permanent Magnet Synchronous Motor" definition: | The motor type used in all G1 joint actuators. Low-inertia internal rotor design with hollow shafts for reduced weight and internal wiring routing. Fast low-latency response. unit: null typical_range: null related_terms: ["actuator", "planetary_gearbox"] related_topics: ["joint-configuration", "hardware-specs"] # ============================================================ # SENSORS # ============================================================ - term: "dual_encoder" full_name: "Dual Encoder (per joint)" definition: | Two encoders per joint providing both position and velocity feedback. Part of the G1's proprioceptive sensing system. Data available in rt/lowstate motor_state. unit: "rad (position), rad/s (velocity)" typical_range: null related_terms: ["joint", "actuator", "state_estimation"] related_topics: ["sensors-perception", "joint-configuration"] - term: "imu" full_name: "Inertial Measurement Unit" definition: | 6-axis sensor (3-axis accelerometer + 3-axis gyroscope) measuring body orientation and angular velocity. Critical for balance and locomotion control. Data in rt/lowstate imu_state field. unit: "m/s^2 (accel), rad/s (gyro)" typical_range: null related_terms: ["state_estimation", "dual_encoder"] related_topics: ["sensors-perception", "locomotion-control"] - term: "livox_mid360" full_name: "Livox MID360 3D LiDAR" definition: | 360-degree 3D LiDAR sensor mounted on the G1's head. Provides point cloud data for SLAM, navigation, and obstacle avoidance. Connected via Ethernet at 192.168.123.20. unit: null typical_range: "360° horizontal, 59° vertical FOV" related_terms: ["realsense_d435i"] related_topics: ["sensors-perception", "networking-comms"] - term: "realsense_d435i" full_name: "Intel RealSense D435i Depth Camera" definition: | RGB-D depth camera mounted on the G1's head. Provides color and depth images for visual perception, obstacle detection, and manipulation. Standard specs: 1280x720@30fps (depth). unit: null typical_range: "87°x58° FOV (depth), up to 1920x1080 (RGB)" related_terms: ["livox_mid360"] related_topics: ["sensors-perception"] - term: "state_estimation" full_name: "State Estimation" definition: | Fusing IMU and joint encoder data to estimate the robot's full state (position, velocity, orientation). Runs on the locomotion computer at 500 Hz. Foundation for balance and locomotion control. unit: null typical_range: null related_terms: ["imu", "dual_encoder"] related_topics: ["locomotion-control", "sensors-perception"] - term: "tactile_sensor" full_name: "Tactile Sensor" definition: | Force/touch sensors integrated into the Dex3-1 hand fingertips. 33 sensors per hand provide contact detection and force feedback for manipulation tasks. unit: null typical_range: "33 per hand (Dex3-1)" related_terms: ["dex3_1", "force_position_hybrid"] related_topics: ["manipulation", "sensors-perception"] # ============================================================ # SOFTWARE & COMMUNICATION # ============================================================ - term: "cyclone_dds" full_name: "CycloneDDS" definition: | The specific DDS implementation used by the G1. Version 0.10.2 is mandatory — version mismatches cause silent communication failures. Used by both unitree_sdk2 and unitree_ros2. unit: null typical_range: "v0.10.2 (exact version required)" related_terms: ["dds", "unitree_sdk2", "ros2", "domain_id"] related_topics: ["networking-comms", "sdk-programming", "ros2-integration"] - term: "dds" full_name: "Data Distribution Service" definition: | Middleware protocol for real-time publish-subscribe communication. The G1 uses CycloneDDS 0.10.2 for all internal communication between computers and for external SDK/ROS2 access. unit: null typical_range: "2 ms latency, 500 Hz update rate" related_terms: ["cyclone_dds", "unitree_sdk2", "ros2", "domain_id"] related_topics: ["networking-comms", "sdk-programming"] - term: "domain_id" full_name: "DDS Domain ID" definition: | Identifier that partitions DDS communication. Used to separate simulated robot traffic from real robot traffic. Change domain ID to switch between sim and real — no code changes needed. unit: null typical_range: null related_terms: ["dds", "cyclone_dds", "sim_to_real"] related_topics: ["networking-comms", "simulation"] - term: "lowcmd" full_name: "Low-Level Command (rt/lowcmd)" definition: | DDS topic for sending motor commands to the robot. Published by user code, consumed by locomotion computer. Contains MotorCmd_ structures for each joint (mode, q, dq, tau). unit: null typical_range: "Published at 500 Hz" related_terms: ["lowstate", "motor_cmd", "dds"] related_topics: ["sdk-programming", "joint-configuration"] - term: "lowstate" full_name: "Low-Level State (rt/lowstate)" definition: | DDS topic containing the full robot state. Published by locomotion computer, subscribed by user code. Includes IMU data, motor states, wireless remote, timing tick (1ms increment), and CRC checksum. unit: null typical_range: "Updated at 500 Hz" related_terms: ["lowcmd", "motor_cmd", "dds"] related_topics: ["sdk-programming", "sensors-perception"] - term: "motor_cmd" full_name: "Motor Command Structure (MotorCmd_)" definition: | Per-joint command in the LowCmd_ message. Fields: mode (0=disable, 1=enable), q (target position in rad), dq (target velocity in rad/s), tau (feed-forward torque in Nm). unit: "rad, rad/s, Nm" typical_range: null related_terms: ["lowcmd", "force_position_hybrid"] related_topics: ["sdk-programming", "joint-configuration"] - term: "ota_update" full_name: "Over-The-Air Update" definition: | Firmware update mechanism allowing wireless updates to the G1's software. Enables seamless updates without physical access to internal storage. unit: null typical_range: null related_terms: [] related_topics: ["deployment-operations"] - term: "pybind11" full_name: "pybind11 (C++/Python Binding)" definition: | Library used to create Python bindings for the C++ unitree_sdk2. Enables the unitree_sdk2_python package to maintain API consistency with the C++ SDK. unit: null typical_range: null related_terms: ["unitree_sdk2"] related_topics: ["sdk-programming"] - term: "ros2" full_name: "Robot Operating System 2" definition: | Open-source robotics middleware framework. The G1 supports ROS2 via unitree_ros2 packages. Supported distros: Foxy (Ubuntu 20.04) and Humble (Ubuntu 22.04, recommended). unit: null typical_range: null related_terms: ["dds", "cyclone_dds", "unitree_sdk2"] related_topics: ["ros2-integration"] - term: "unitree_sdk2" full_name: "Unitree SDK 2.0" definition: | Official SDK for robot control. C++ (v2.0.2) with Python wrapper. Based on CycloneDDS 0.10.2. Provides low-level motor control, high-level sport mode, sensor access. BSD-3-Clause license. unit: null typical_range: "v2.0.2 (latest)" related_terms: ["dds", "cyclone_dds", "ros2", "pybind11"] related_topics: ["sdk-programming"] # ============================================================ # CONTROL & LEARNING # ============================================================ - term: "curriculum_learning" full_name: "Curriculum Learning" definition: | Training strategy that gradually increases task difficulty. Used in G1 locomotion policy training — multi-phase curriculum progresses from basic standing to complex gait transitions. unit: null typical_range: null related_terms: ["gait_conditioned_rl", "sim_to_real"] related_topics: ["learning-and-ai", "locomotion-control"] - term: "force_position_hybrid" full_name: "Force-Position Hybrid Control" definition: | Control mode combining position targets with torque feed-forward. Used in G1 actuators and Dex3-1 hand for compliant manipulation. Set both q (position) and tau (torque) in MotorCmd_. unit: null typical_range: null related_terms: ["motor_cmd", "actuator", "dex3_1"] related_topics: ["sdk-programming", "manipulation"] - term: "gait" full_name: "Gait Pattern" definition: | The cyclic pattern of leg movements during locomotion. G1 supports standing, walking, and smooth transitions between them. Controlled by gait-conditioned RL policy. unit: null typical_range: "0-2 m/s walking speed" related_terms: ["gait_conditioned_rl", "locomotion"] related_topics: ["locomotion-control"] - term: "gait_conditioned_rl" full_name: "Gait-Conditioned Reinforcement Learning" definition: | The G1's locomotion control framework. Uses one-hot gait ID for dynamic gait switching, gait-specific reward routing, and biomechanically inspired reward shaping. Trained in simulation. Reference: arXiv:2505.20619. unit: null typical_range: null related_terms: ["gait", "curriculum_learning", "sim_to_real"] related_topics: ["locomotion-control", "learning-and-ai"] - term: "sim_to_real" full_name: "Sim-to-Real Transfer" definition: | Deploying policies trained in simulation to physical hardware. The G1 ecosystem supports seamless transfer — same DDS API in sim and real, only network config changes. Domain randomization used for robustness. unit: null typical_range: null related_terms: ["domain_id", "gait_conditioned_rl"] related_topics: ["simulation", "learning-and-ai"] # ============================================================ # COMPUTE & ARCHITECTURE # ============================================================ - term: "development_computer" full_name: "Development Computer (PC2)" definition: | User-accessible NVIDIA Jetson Orin NX 16GB computer on the G1. Runs user applications, AI models, and perception pipelines. IP: 192.168.123.164. Available on EDU variants. unit: null typical_range: "100 TOPS AI performance" related_terms: ["jetson_orin_nx", "locomotion_computer", "dual_computer_architecture"] related_topics: ["hardware-specs", "networking-comms"] - term: "dual_computer_architecture" full_name: "Hierarchical Dual-Computer Architecture" definition: | The G1's computing design: a proprietary locomotion computer (192.168.123.161) handles real-time motor control at 500 Hz, while a user-accessible development computer (192.168.123.164, Jetson Orin NX) runs applications. They communicate via CycloneDDS. unit: null typical_range: null related_terms: ["locomotion_computer", "development_computer", "dds"] related_topics: ["hardware-specs", "networking-comms"] - term: "jetson_orin_nx" full_name: "NVIDIA Jetson Orin NX 16GB" definition: | AI computing module on the G1 (EDU variants). Provides 100 TOPS of AI performance for perception, planning, and neural network inference. Runs Linux. unit: "TOPS" typical_range: "100 TOPS" related_terms: ["development_computer", "dual_computer_architecture"] related_topics: ["hardware-specs"] - term: "locomotion_computer" full_name: "Locomotion Computer (PC1)" definition: | Proprietary computer handling real-time motor control, balance, and gait execution at 500 Hz. NOT user-accessible. Exposes control APIs via CycloneDDS. IP: 192.168.123.161. unit: null typical_range: "500 Hz control loop" related_terms: ["development_computer", "dual_computer_architecture"] related_topics: ["hardware-specs", "locomotion-control"] # ============================================================ # POWER # ============================================================ - term: "battery_capacity" full_name: "Battery Capacity" definition: | The G1 uses a 13-cell LiPo battery with 9,000 mAh capacity and quick-release smart connector. Estimated ~432 Wh energy. Charger: 100-240V AC input, 54V/5A DC output. unit: "mAh / Wh" typical_range: "9,000 mAh (~432 Wh)" related_terms: ["runtime"] related_topics: ["power-system"] - term: "runtime" full_name: "Battery Runtime" definition: | Duration of operation on a single charge. ~2 hours continuous for standard G1, up to 6 hours for G1-D (wheeled variant). Varies significantly by activity profile. unit: "hours" typical_range: "~2 hours (continuous operation)" related_terms: ["battery_capacity"] related_topics: ["power-system", "deployment-operations"] # ============================================================ # SAFETY # ============================================================ - term: "e_stop" full_name: "Emergency Stop" definition: | Hardware button and software API to immediately halt all robot motion. Available on physical robot and via wireless remote. Must explicitly re-enable robot after triggering. unit: null typical_range: null related_terms: ["safety_limits"] related_topics: ["safety-limits", "deployment-operations"] - term: "safety_limits" full_name: "Safety Limits" definition: | The collection of joint position limits, torque limits, velocity limits, and operational constraints that bound safe robot behavior. Enforced by locomotion computer and optionally by user safety wrappers. unit: null typical_range: null related_terms: ["e_stop", "joint"] related_topics: ["safety-limits", "equations-and-bounds"] # ============================================================ # WHOLE-BODY CONTROL & BALANCE # ============================================================ - term: "whole_body_control" full_name: "Whole-Body Control (WBC)" definition: | Control framework treating the entire robot as one coordinated system. Solves for all joint commands simultaneously subject to task objectives, balance constraints, and physical limits. Enables mocap tracking while maintaining stability. unit: null typical_range: null related_terms: ["task_space_inverse_dynamics", "groot_wbc", "qp_solver"] related_topics: ["whole-body-control", "locomotion-control"] - term: "task_space_inverse_dynamics" full_name: "Task-Space Inverse Dynamics (TSID)" definition: | QP-based optimization that computes joint torques to achieve desired task-space accelerations while respecting balance, joint limits, and contact constraints. Used with Pinocchio library. unit: null typical_range: "1-5ms compute time per step" related_terms: ["whole_body_control", "pinocchio", "qp_solver"] related_topics: ["whole-body-control", "equations-and-bounds"] - term: "operational_space_control" full_name: "Operational Space Control" definition: | Control framework where tasks are specified in Cartesian/operational space (end-effector positions) and mapped to joint space via the robot's Jacobian. Foundation for task-priority WBC. unit: null typical_range: null related_terms: ["whole_body_control", "inverse_kinematics"] related_topics: ["whole-body-control"] - term: "centroidal_dynamics" full_name: "Centroidal Dynamics" definition: | Simplified dynamics model using the robot's center of mass and angular momentum. Used in MPC-based WBC for computationally efficient balance planning. Captures whole-body momentum in 6 DOF. unit: null typical_range: null related_terms: ["whole_body_control", "com"] related_topics: ["whole-body-control", "equations-and-bounds"] - term: "qp_solver" full_name: "Quadratic Program Solver" definition: | Optimization solver for convex quadratic objectives with linear constraints. Core of model-based WBC — solves for joint accelerations or torques at each control step. Must run within 2ms for 500 Hz. unit: null typical_range: "< 2ms solve time for real-time WBC" related_terms: ["task_space_inverse_dynamics", "whole_body_control"] related_topics: ["whole-body-control"] - term: "groot_wbc" full_name: "GR00T-WholeBodyControl (NVIDIA)" definition: | NVIDIA's open-source WBC framework for humanoid robots including G1. Decouples RL locomotion (lower body) from task control (upper body). Integrates with LeRobot and Isaac Lab. Apache 2.0 license. unit: null typical_range: null related_terms: ["whole_body_control", "lerobot"] related_topics: ["whole-body-control", "learning-and-ai"] # ============================================================ # MOTION RETARGETING # ============================================================ - term: "motion_retargeting" full_name: "Motion Retargeting" definition: | Mapping motion from one kinematic structure (e.g., human) to another (e.g., G1 robot). Must handle DOF mismatch, limb proportion differences, and joint limit constraints. Can be IK-based, optimization-based, or RL-based. unit: null typical_range: null related_terms: ["mocap", "inverse_kinematics", "smpl", "kinematic_scaling"] related_topics: ["motion-retargeting"] - term: "mocap" full_name: "Motion Capture" definition: | Recording human body movement for analysis or retargeting to robots. Sources: marker-based (OptiTrack/Vicon), markerless (Kinect, MediaPipe), VR-based (Vision Pro, Quest 3), or video-based (OpenPose, HMR2.0). unit: null typical_range: null related_terms: ["motion_retargeting", "amass", "xr_teleoperate"] related_topics: ["motion-retargeting", "manipulation"] - term: "amass" full_name: "Archive of Motion Capture as Surface Shapes" definition: | Largest public human motion dataset (11,000+ sequences from 15 datasets). Uses SMPL body model format. Pre-retargeted for G1 available on HuggingFace (unitree). Used for RL training reference motions. unit: null typical_range: "11,000+ motion sequences" related_terms: ["smpl", "mocap", "motion_retargeting"] related_topics: ["motion-retargeting", "learning-and-ai"] - term: "smpl" full_name: "Skinned Multi-Person Linear Model" definition: | Standard parametric human body model. 72 pose params (24 joints x 3) + 10 shape params → 6,890 vertex mesh. AMASS uses SMPL format. Retargeting requires mapping SMPL joints to G1 joints. unit: null typical_range: "24 joints, 72 pose parameters" related_terms: ["amass", "mocap", "motion_retargeting"] related_topics: ["motion-retargeting"] - term: "kinematic_scaling" full_name: "Kinematic Scaling" definition: | Adjusting motion data to account for differences in limb lengths between source (human) and target (robot). Maps end-effector positions proportionally to robot workspace. unit: null typical_range: null related_terms: ["motion_retargeting", "inverse_kinematics"] related_topics: ["motion-retargeting", "equations-and-bounds"] - term: "inverse_kinematics" full_name: "Inverse Kinematics (IK)" definition: | Computing joint angles to achieve a desired end-effector position. Used in motion retargeting to map human keypoints to G1 joint angles. Solvers: Pinocchio, MuJoCo IK, IKPy. unit: null typical_range: "< 1ms per frame (Pinocchio)" related_terms: ["motion_retargeting", "kinematic_scaling", "pinocchio"] related_topics: ["motion-retargeting", "whole-body-control"] # ============================================================ # PUSH RECOVERY & BALANCE # ============================================================ - term: "push_recovery" full_name: "Push Recovery" definition: | The robot's ability to maintain balance after being pushed. Strategies include ankle (small pushes), hip (medium), and stepping (large). RL policies trained with perturbation curriculum achieve robust recovery. unit: null typical_range: "~30-60 N·s recoverable impulse (estimated)" related_terms: ["ankle_strategy", "hip_strategy", "stepping_strategy", "perturbation_curriculum"] related_topics: ["push-recovery-balance", "locomotion-control"] - term: "ankle_strategy" full_name: "Ankle Push Recovery Strategy" definition: | Responding to small perturbations by adjusting ankle torque to shift center of pressure within the foot. Fastest response (~50ms). Limited to pushes that keep CoM within foot support area. unit: null typical_range: null related_terms: ["push_recovery", "hip_strategy", "stepping_strategy"] related_topics: ["push-recovery-balance"] - term: "hip_strategy" full_name: "Hip Push Recovery Strategy" definition: | Responding to medium perturbations by rapid hip flexion/extension to shift center of mass back over support. Often combined with arm countermotion. Response time ~100-200ms. unit: null typical_range: null related_terms: ["push_recovery", "ankle_strategy", "stepping_strategy"] related_topics: ["push-recovery-balance"] - term: "stepping_strategy" full_name: "Stepping Push Recovery Strategy" definition: | Responding to large perturbations by taking a recovery step to create a new support polygon under the shifted CoM. Most complex strategy, requires free space for foot placement. unit: null typical_range: null related_terms: ["push_recovery", "ankle_strategy", "hip_strategy", "support_polygon"] related_topics: ["push-recovery-balance"] - term: "residual_policy" full_name: "Residual Policy" definition: | A small correction policy layered on top of a base controller. Output: a_final = a_base + α * a_residual (α < 1 for safety). Safest approach for enhancing G1 balance without full controller replacement. unit: null typical_range: "α ∈ [0, 1] scaling factor" related_terms: ["push_recovery", "perturbation_curriculum"] related_topics: ["push-recovery-balance", "learning-and-ai"] - term: "control_barrier_function" full_name: "Control Barrier Function (CBF)" definition: | Safety-critical control theory tool that guarantees a system stays within a defined safe set: h(x) ≥ 0. Applied to balance (CoM within support polygon) and collision avoidance. Validated on G1 (arXiv:2502.02858). unit: null typical_range: null related_terms: ["push_recovery", "support_polygon", "qp_solver"] related_topics: ["push-recovery-balance", "safety-limits"] - term: "support_polygon" full_name: "Support Polygon" definition: | Convex hull of all foot contact points on the ground. For static stability, the CoM projection must remain within this polygon. Changes shape during walking (single vs. double support phases). unit: "m^2 (area)" typical_range: "~0.15-0.25m width (stance dependent)" related_terms: ["push_recovery", "control_barrier_function"] related_topics: ["push-recovery-balance", "equations-and-bounds"] - term: "perturbation_curriculum" full_name: "Perturbation Curriculum Training" definition: | RL training strategy that applies progressively increasing external forces to the robot during simulation. Starts with small pushes (10-30N), increases to large (80-200N). Produces policies robust to real-world pushes. unit: null typical_range: "10-200 N push force range" related_terms: ["push_recovery", "curriculum_learning", "sim_to_real"] related_topics: ["push-recovery-balance", "learning-and-ai"] # ============================================================ # FRAMEWORKS & LIBRARIES # ============================================================ - term: "pinocchio" full_name: "Pinocchio (Rigid Body Dynamics Library)" definition: | Open-source C++/Python library for rigid body dynamics computations. Provides forward/inverse kinematics, Jacobians, inverse dynamics, and derivatives. Foundation for model-based WBC. BSD-2 license. unit: null typical_range: null related_terms: ["task_space_inverse_dynamics", "inverse_kinematics", "whole_body_control"] related_topics: ["whole-body-control", "motion-retargeting"] - term: "h2o" full_name: "H2O: Human-to-Humanoid Teleoperation" definition: | Research framework (arXiv:2403.01623) for real-time human-to-humanoid whole-body teleoperation. RL policy trained to imitate human demonstrations while maintaining balance. Proves combined mocap + balance paradigm. unit: null typical_range: null related_terms: ["omnih2o", "whole_body_control", "teleoperation"] related_topics: ["whole-body-control", "motion-retargeting"] - term: "omnih2o" full_name: "OmniH2O: Universal Teleoperation" definition: | Extension of H2O (arXiv:2406.08858) supporting multiple input modalities (VR, RGB camera, mocap). Trains universal policy generalizing across operators. Supports both real-time teleop and autonomous replay. unit: null typical_range: null related_terms: ["h2o", "whole_body_control", "mocap"] related_topics: ["whole-body-control", "motion-retargeting"] # ============================================================ # OPERATIONS & TOOLS # ============================================================ - term: "lerobot" full_name: "LeRobot (HuggingFace)" definition: | Open-source imitation learning framework. Modified version (unitree_IL_lerobot) supports G1 dual-arm dexterous hand training. Supports 29-DOF and 23-DOF G1 configs with gr00t_wbc locomotion. unit: null typical_range: null related_terms: ["xr_teleoperate", "teleoperation"] related_topics: ["learning-and-ai"] - term: "teleoperation" full_name: "Teleoperation" definition: | Remote human control of the robot, typically for data collection. The G1 supports XR device teleoperation (Vision Pro, PICO 4, Quest 3) and Kinect body tracking teleoperation. unit: null typical_range: null related_terms: ["xr_teleoperate", "lerobot"] related_topics: ["manipulation", "learning-and-ai"] - term: "xr_teleoperate" full_name: "XR Teleoperation System" definition: | Unitree's official XR-based teleoperation system. Supports Apple Vision Pro, PICO 4 Ultra, Meta Quest 3. Enables hand/controller tracking with built-in episode recording for imitation learning. unit: null typical_range: null related_terms: ["teleoperation", "lerobot", "dex3_1"] related_topics: ["manipulation", "learning-and-ai"] # ============================================================ # GB10 & DEPLOYMENT (Phase 3) # ============================================================ - term: "dell_pro_max_gb10" full_name: "Dell Pro Max Desktop GB10" definition: | NVIDIA Grace Blackwell workstation (aarch64). 128 GB unified LPDDR5X, 1000 TFLOPS FP4, sm_121. Used as offboard AI brain for G1. GR00T-WBC deployed and verified. Ubuntu 24.04, driver 580.95.05. unit: null typical_range: "1000 TFLOPS (FP4)" related_terms: ["groot_wbc", "jetson_orin_nx"] related_topics: ["gb10-offboard-compute", "whole-body-control"] - term: "onnx_policy" full_name: "ONNX Neural Network Policy" definition: | Pre-trained RL policy exported in ONNX format for deployment. GR00T-WBC ships Balance and Walk policies: 516-dim observation (proprioception + history) → 15-dim action (lower body joint targets). Trained with PPO in Isaac Lab. Inference via onnxruntime. unit: null typical_range: "516-dim obs → 15-dim action, < 1ms inference" related_terms: ["groot_wbc", "sim_to_real", "gait_conditioned_rl"] related_topics: ["whole-body-control", "learning-and-ai"] - term: "nomachine" full_name: "NoMachine Remote Desktop" definition: | Remote desktop software using NX protocol. Used for GB10 headless access. Creates virtual desktops on headless servers. Better than VNC for GPU content but GLFW passive viewer still stalls. unit: null typical_range: "Port 4000 (NX protocol)" related_terms: ["dell_pro_max_gb10"] related_topics: ["gb10-offboard-compute"] - term: "ppo" full_name: "Proximal Policy Optimization" definition: | RL algorithm from OpenAI, standard for locomotion policy training. Used by NVIDIA (via RSL-RL) to train GR00T-WBC Balance and Walk policies. Clip-based surrogate objective for stable training. unit: null typical_range: null related_terms: ["gait_conditioned_rl", "curriculum_learning", "sim_to_real"] related_topics: ["learning-and-ai", "whole-body-control"] - term: "rsl_rl" full_name: "RSL-RL (Robotic Systems Lab RL)" definition: | GPU-optimized RL training library from ETH Zurich RSL. Used with Isaac Lab for locomotion policy training. Implements PPO optimized for parallel simulation. Standard for legged robot RL. unit: null typical_range: null related_terms: ["ppo", "curriculum_learning"] related_topics: ["learning-and-ai"] - term: "isaac_lab" full_name: "NVIDIA Isaac Lab" definition: | NVIDIA's robot learning framework built on Isaac Sim. GPU-parallelized physics simulation for large-scale RL training. Used to train GR00T-WBC policies. Supports domain randomization, terrain generation, and whole-body control training workflows. unit: null typical_range: "4096+ parallel environments on single GPU" related_terms: ["ppo", "rsl_rl", "groot_wbc", "sim_to_real"] related_topics: ["simulation", "learning-and-ai", "whole-body-control"]