Locomotion

UniLab keeps a small reference/conformance locomotion set and the shared Manager-Based runtime. Unitree production variants live in the downstream unitree_rl_unilab package.

Core reference tasks

  • Go2 joystick: go2_joystick_flat

  • G1 walking: g1_walk_flat

  • G1 motion tracking reference profiles: see Motion Tracking

uv run train --algo ppo --task go2_joystick_flat --sim mujoco
uv run train --algo ppo --task g1_walk_flat --sim mujoco
uv run train --algo sac --task g1_walk_flat --sim mujoco

Check the core support matrix for evidence grade by entrypoint, task owner, and backend: Support Matrix.

Unitree ecosystem tasks

Unitree production variants are maintained in unitree_rl_unilab, which depends only on the published UniLab/UniRL distributions. Its support evidence and task documentation are owned by that repository and are not part of UniLab’s core support matrix.