Unitree says cumulative G1 production reaches roughly 10,000–20,000 - 2026-10-22 - Production Milestone - Wang made the disclosure at the 2026 World Physical AI Conference on October22. He identified manufacturing scale, Physical AI model development and compute infrastructure as priorities for broader adoption. Unitree is… - source: itiger.com
Unitree G1 performs five contact-rich interactions in REACT study - 2026-10-20 - Research Publication - A VLM-guided pipeline preserves meaningful human contact while retargeting demonstrations to the humanoid. A privileged teacher is distilled into an egocentric depth policy, with generative partner-state prediction for… - source: arxiv.org
Imacreate launches motion-reproduction software for Unitree G1 - 2026-10-19 - Product Launch - The annual licence costs JPY 5 million before tax, excluding the robot; implementation support starts at JPY 3 million per month. Processing and motion data remain on a local GPU-equipped computer. In company testing, G1… - source: prtimes.jp
Unitree G1 tested for outdoor okra detection and grasping - 2026-09-29 - Demonstration - The configuration combined a ZED-M stereo camera, Dex1-1 hand and cutting attachment, left-arm basket and Jetson Orin 64GB computing. Grasping succeeded in 16 of 20 indoor trials. Outdoor detection and grasping were demonstrated… - source: prtimes.jp
Unitree introduces UnifoLM-WLA-1.0 humanoid foundation model - 2026-09-10 - Research Publication - The model was trained on approximately 2,500 hours of real-robot data spanning 54 tabletop and 10 whole-body tasks. A shared action representation supports two-finger grippers and multiple five-finger hands; the complete… - source: unigen-x.github.io
Unitree shows claimed autonomous G1 sparring - 2026-09-07 - Demonstration - The robot wore gloves and maintained bipedal balance while stepping and changing posture during contact. Unitree attributed control to UnifoLM-X2-1.0 and claimed its world model predicts near-future physical states in real time. - source: itmedia.co.jp
Unitree introduces UnifoLM-OminiA-0.3 with humanoid task demonstration - 2026-07-20 - Demonstration - Demonstrated tasks included moving a pillow to a sofa, selecting a specified medicine box and putting clothing into a basket. The video also showed dishwasher loading and voice-controlled bed-height adjustment, including stopping… - source: robotstart.info
Asynchronous tracking study validates G1 sparse-motion control - 2026-06-24 - Research Publication - Physical 29-DoF G1 experiments included large squat-like motions commanded through head-and-hand trajectories. Self-guidance constrained otherwise unspecified lower-body movement; the paper reports numerical tracking… - source: arxiv.org
TaskNPoint study tests G1 sports and box interaction - 2026-06-24 - Research Publication - Hardware evaluation covered tennis contact, soccer contact and box pick-and-place, with 20 trials per condition; sports success required contact rather than a completed game. An eight-camera OptiTrack system tracked… - source: arxiv.org
Texedo study executes language-selected motions on G1 - 2026-06-22 - Research Publication - The hardware evaluation used SONIC to track 30 selected trajectories, including dancing, walking, stepping and boxing-like motion. All 30 physical trajectories finished without falling or early termination; the study also… - source: arxiv.org
LP-NavOA study tests obstacle bypass on G1 - 2026-06-22 - Research Publication - A physical G1 used odometry and local range measurements to bypass wall barriers and recover its commanded direction at 0.5–1.0 m/s. The closest observed clearance in the physical run was 0.281 m; a separate simulation… - source: arxiv.org
VQActFlow study benchmarks G1 task selection - 2026-06-19 - Research Publication - The G1 used Inspire RH56DFTP hands and a head-mounted RealSense D435i camera; four pick-and-place tasks each had 140 teleoperated demonstrations. Across 20 trials per task, stronger classifier-free guidance raised… - source: arxiv.org
DUET study tests G1 collaboration with Vega1 - 2026-06-18 - Research Publication - A Unitree G1 and a Dexmate Vega1 performed four collaborative tasks: sweeping, transferring, board balancing and a doll handover. The system combined paired human demonstrations with two-operator robot teleoperation and… - source: arxiv.org
HALOMI study learns G1 loco-manipulation from human demonstrations - 2026-06-17 - Research Publication - The physical G1 had a custom actuated neck; five tasks included bag transfer, bread placement, towel transfer, tossing and squat-and-grasp. Three manipulation tasks received 20 evaluation rollouts per setting, while… - source: arxiv.org
SteerGenPO study transfers stable walking to G1 - 2026-06-15 - Research Publication - The physical G1 executed stable forward walking with the simulation-trained controller and no hardware fine-tuning. The paper separately evaluates six Isaac Lab benchmarks and closed-loop path following in MuJoCo. - source: arxiv.org
PTDL study tests G1 recovery on moderate terrain - 2026-06-08 - Research Publication - Hardware tests used flat ground, gravel and 5° and 10° slopes, followed by a 0.3 m/s forward command after standing. The controller used proprioception; 20° slopes belonged to simulation, and a second fall triggered a… - source: arxiv.org
MotionWAM study demonstrates whole-body G1 control - 2026-06-08 - Research Publication - The G1 used dual ALOHA2 grippers and a head-mounted RealSense D435i camera; a workstation policy server ran in a closed control loop. Evaluation covered 20 trials per task, including coordinated torso movement, squatting… - source: arxiv.org
Marope study demonstrates cooperative G1 rope skipping - 2026-06-06 - Research Publication - Decentralized rope-control policies are coordinated by a higher-level scheduler and trained against varied jumping behaviors. Physical experiments used motion capture for partner state; extending collaboration to onboard… - source: arxiv.org
Predictive Style Matching study tests natural G1 locomotion - 2026-06-05 - Research Publication - The predictor maps lower-body history and velocity commands to upper-body and gait targets during training, then is removed for deployment. Physical G1 tests assessed arm swing and push recovery; quantitative style and… - source: arxiv.org
State-dependent AMP study unifies G1 locomotion and recovery - 2026-05-18 - Research Publication - A frozen ONNX policy ran at 50 Hz on physical G1 hardware, recovering from prone and supine starts and transitioning between walking and running. Training used three LAFAN1 reference clips and separate recovery and… - source: arxiv.org
IMU teleoperation study validates G1 whole-body motion - 2026-05-12 - Research Publication - The same processing and retargeting pipeline ran in MuJoCo and on physical G1 hardware without modification. Demonstrated movements included walking, sitting, turning, bowing and coordinated full-body gestures. - source: arxiv.org
Rapid-grasp study tests G1 vision-guided manipulation - 2026-04-19 - Research Publication - The G1 used Dex3 hands, a RealSense D435i and an external RTX 4060 laptop; bottle tests placed a 22 cm object at five positions in a 20 × 20 cm workspace. The same perception-to-motion pipeline was also demonstrated in… - source: arxiv.org
Terrain-aware motion study demonstrates G1 obstacle traversal - 2026-04-19 - Research Publication - Physical tests covered boxes, stairs and vaulting over hurdles, including mixed courses absent from reinforcement-learning fine-tuning. The robot used its knees and hands for support on climbs and hand contact to cushion… - source: arxiv.org
EgoNav study transfers human navigation data to G1 - 2026-04-01 - Research Publication - The system combines visual memory, frozen video features, diffusion trajectory prediction and receding-horizon control. Physical G1 tests in unseen indoor and outdoor scenes included waiting for doors, avoiding crowds and… - source: arxiv.org
Sensor-ablation study benchmarks G1 manipulation - 2026-03-30 - Research Publication - The study tested 14 sensor combinations on a G1 EDU-U4 with three-finger hands, using can sorting and cube grasping tasks. A minimal active stereo-camera setup achieved 94.4% structured-task success and 87.5%… - source: arxiv.org
Chasing Autonomy study demonstrates G1 running - 2026-03-26 - Research Publication - Physical G1 tests reached 3.3 m/s and traversed routes hundreds of metres long. The controller was integrated with perception and planning for outdoor obstacle avoidance, with velocity commands guiding locomotion. - source: arxiv.org
ECHO study tests language-to-motion control on G1 - 2026-03-17 - Research Publication - The physical platform was a 29-DoF G1 EDU; four gesture commands each received 20 trials, with all 80 completed under the paper’s success criterion. A compact 38-dimensional representation carried joint angles, planar root… - source: arxiv.org
Psi-Zero study tests G1 long-horizon manipulation - 2026-03-12 - Research Publication - The physical configuration paired a 29-DoF G1 with Dex3-1 hands and a RealSense D435i camera; MANUS gloves and PICO tracking supported data collection. Evaluation covered eight real-world tasks with three to five subtasks… - source: arxiv.org
XL-VLA study demonstrates G1 dexterous manipulation - 2026-03-10 - Research Publication - The physical G1 configuration used Inspire hands and a chest-mounted RealSense L515 camera; MANUS gloves supplied teleoperation demonstrations. Across four G1 tasks, mean success was 0.825 for XL-VLA versus 0.525 for the… - source: arxiv.org
ZeroWBC study demonstrates G1 control from human video - 2026-03-10 - Research Publication - Physical tasks included navigation, kicking, sofa sitting and box moving, using motion tracking after human-to-robot retargeting. Box carrying succeeded in 30% of trials; grasp slipping and small perception errors limited… - source: arxiv.org
Unitree releases whole-body teleoperation dataset - 2026-03-05 - Research Publication - The release focuses on real-robot whole-body teleoperation, combining movement and manipulation recordings. Unitree announced high-frequency rolling updates as additional data becomes available. - source: huggingface.co
ULTRA study tests multimodal G1 loco-manipulation - 2026-03-03 - Research Publication - Physical tests compared motion-capture control with onboard egocentric sensing for vertical and lateral object goals. Egocentric goal following completed 5/10 vertical and 6/10 lateral trials; motion capture supplied… - source: arxiv.org
Rhythm study demonstrates interaction between two G1 robots - 2026-03-03 - Research Publication - Hardware demonstrations included coordinated hugging and dancing rather than two independently replayed motions. A C++ onboard stack ran policy inference at 50 Hz and joint PD control at 500 Hz, using peer-state estimates… - source: arxiv.org
Surgical-assistance study tests teleoperated G1 on cadaver - 2026-02-27 - Research Publication - An attending surgeon performed the procedure while a separate teleoperator controlled the robot-mounted camera. The proof of concept achieved stable visualization in a research operating room; the study did not involve a… - source: arxiv.org
Unitree G1 robots perform martial arts at Temple of Heaven - 2026-02-23 - Demonstration - The robots wore red shirts and moved in formation through leaps, shifts and flips before a fist-clasping salute. The footage followed Unitree’s separate February 16 Spring Festival Gala appearance. - source: news.cgtn.com
Unitree G1 listed for sale on Amazon US - 2026-02-19 - Market Signal - The listing specified a “No Secondary Development” model controlled through a handheld remote or mobile app, rather than the programmable G1-EDU. Reported hardware included 23 degrees of freedom, a 127 cm frame and approximately… - source: humanoidsdaily.com
Perceptive Humanoid Parkour study demonstrates G1 climbing - 2026-02-17 - Research Publication - A physical 29-DoF G1 climbed a 1.25 m wall in 3.63 seconds and completed a 48-second obstacle course with adaptation to displaced obstacles. Skill execution used onboard perception; navigation received simple… - source: arxiv.org
APEX study demonstrates G1 high-platform traversal - 2026-02-11 - Research Publication - Physical experiments used a 29-DoF G1 to traverse 0.8 m platforms and demonstrate climbing down, standing up and lying down. Livox MID360 lidar supplied elevation maps processed on an Intel Core i7, with filtering designed… - source: arxiv.org
EAGLE study transfers control across four humanoids - 2026-02-03 - Research Publication - A policy trained in simulation controlled physical Unitree H1, Unitree G1, Booster T1 and Fourier N1 robots without hardware-specific fine-tuning. Hardware demonstrations covered walking, leaning and squatting; a fifth… - source: arxiv.org
HUSKY study demonstrates G1 skateboard control - 2026-02-03 - Research Publication - The framework models skateboard tilt and steering geometry, then uses motion priors and trajectory guidance to switch between pushing and steering. Physical G1 trials used relatively simple terrain; onboard visual state… - source: arxiv.org
HumanoidVLM study tests G1 contact-rich manipulation - 2026-01-21 - Research Publication - Physical tabletop tasks included surface following, massage-ball contact, bimanual object placement, fork use and grasping. Parameter retrieval was evaluated on 14 egocentric images, with 93% accuracy; robot experiments… - source: arxiv.org
FRoM-W1 study tests language-driven H1 and G1 control - 2026-01-19 - Research Publication - Physical deployments used H1 with Inspire hands and a torso ZED Mini camera, and a 29-DoF G1 EDU+ with Dex3-1 hands. A separate workstation ran the language model, while onboard computers executed control; the G1 waist… - source: arxiv.org
Unitree introduces humanoid robot App Store beta - 2025-12-12 - Product Launch - Early G1 collections included Funny Actions, Twist Dance and Bruce Lee-inspired martial-arts routines. Developers could upload their own code, and Unitree offered rewards for exceptional contributors. - source: techradar.com
Unitree demonstrates full-body humanoid teleoperation platform - 2025-11-06 - Demonstration - Operators wearing motion-capture straps controlled soccer, martial-arts and boxing movements in real time. The demonstration also showed vacuuming, laundry handling and refrigerator loading as examples of human-guided data… - source: humanoidsdaily.com
Layered-control study validates G1 stairs and ledges - 2025-10-16 - Research Publication - Hardware evaluation covered stair ascent, stair descent, a hinged ledge and a soft ledge, with five trials for each policy and task. Two RealSense D435 cameras supplied perception processed on Jetson Orin NX; a separate… - source: arxiv.org
DemoHLM study transfers simulated demonstrations to G1 - 2025-10-13 - Research Publication - The training pipeline expands a single simulated demonstration into synthetic data for imitation learning. A physical G1 with an RGB-D camera completed ten task evaluations under changed spatial conditions, using… - source: arxiv.org
Humanoid Everyday releases G1 and H1 manipulation data - 2025-10-09 - Research Publication - The initial paper described 10,300 trajectories and more than three million frames spanning 260 tasks in seven categories. Collection used a 29-DoF G1 with Dex3-1 hands and a 27-DoF H1 configuration with Inspire hands… - source: arxiv.org
RobotDancing study tests long-horizon humanoid tracking - 2025-09-25 - Research Publication - Physical G1 tests completed several LAFAN1 dance sequences; three sequences were untested because of robot maintenance. H1 and H1-2 demonstrations extended the training recipe to larger hardware, where torque-to-weight… - source: arxiv.org
RuN study demonstrates G1 walk-run transitions - 2025-09-25 - Research Publication - Physical G1 trials transferred the simulation-trained policy without additional hardware tuning, covering locomotion from standing through running at up to 2.5 m/s. The residual policy corrects dynamic interactions while… - source: arxiv.org
RoMoCo toolbox demonstrates G1 model-based stepping - 2025-09-23 - Research Publication - Physical G1 experiments used a divergent-component-of-motion planner and position inverse kinematics to step in place, with measured centre-of-mass and foot-height tracking. Upper-body joints stayed at fixed nominal… - source: arxiv.org
HDMI study transfers human-video interaction skills to G1 - 2025-09-20 - Research Publication - Physical tests included 67 consecutive door openings and traversals, plus box handling and other contact-rich tasks. Motion-capture markers on the robot pelvis and manipulated objects supplied pose measurements; the… - source: arxiv.org
Unitree G1 demonstrates Auki-guided navigation at WOW Summit - 2025-09-09 - Demonstration - The Auki domain was prepared in a few hours the preceding day and was also accessible to visitors through app-free augmented-reality navigation. The robot combined onboard sensing with the domain’s navigable areas, obstacles… - source: auki.com
Unitree G1 interacts with fighters at UFC Performance Institute - 2025-08-28 - Demonstration - Motion data collected from UFC athletes covered boxing, Muay Thai and jiu-jitsu movements. The optical recordings captured limb-joint angles, punching speed and continuous motion trajectories. Unitree used real-time motion data… - source: en.chingmu.com
UniTracker study validates G1 whole-body motion tracking - 2025-07-10 - Research Publication - Physical G1 experiments tracked walking, kicking, turning, dancing and squatting with one policy. The study also tested text-conditioned motion generation and video-based motion estimates as previously unseen motion inputs. - source: arxiv.org
NVIDIA posts G1 fruit teleoperation dataset - 2025-06-10 - Research Publication - Recordings use a RealSense camera and Unitree tri-finger hands, with prompts covering apple, pear, starfruit and grape handling. The CC BY 4.0 release includes RGB video and 43-dimensional joint-state and action vectors. - source: huggingface.co
Gait-conditioned learning study transfers walking to G1 - 2025-05-27 - Research Publication - Physical validation covered standing, walking and walk-to-stand transitions with coordinated arm and leg motion. Running remained a simulation result; hardware transfer used the trained policy without fine-tuning. - source: arxiv.org
Unitree G1 performs a standing side flip - 2025-03-31 - Demonstration - The robot landed primarily on its left leg, then stabilized as the other foot contacted the floor. Unitree told Live Science it mainly upgraded the control algorithm and trained the maneuver using reinforcement learning. - source: livescience.com
Unitree G1 demonstrates kip-up and balance recovery - 2025-03-21 - Demonstration - The same footage showed Tai Chi-inspired movements alongside a human partner. G1 regained its balance after a kick from behind; Unitree described the footage as normal-speed recording without AI-generated enhancement. - source: e.vnexpress.net
Unitree G1 dance demonstration uses Westlake Robotics motion model - 2025-03-21 - Demonstration - The footage included single-leg spins, two aerial kicks, a stable finish and a final bow. Westlake said the sequence ran from one end-to-end model without remote control or accelerated playback. The company also described… - source: hznews.hangzhou.com.cn
HoST study demonstrates G1 standing from varied postures - 2025-02-12 - Research Publication - Physical tests used a 23-actuator G1 with an onboard Jetson Orin NX and IMU and joint-encoder feedback. The policies transferred directly from simulation to laboratory and outdoor settings, with smoothness and motion-speed… - source: arxiv.org
ASAP study improves agile G1 motion transfer - 2025-02-03 - Research Publication - The hardware comparison tested kicking and an out-of-distribution LeBron James “Silencer” motion, measuring closed-loop tracking error against an untuned baseline. The residual model was used during simulation fine-tuning… - source: arxiv.org
Unitree reports G1 gait improvement after two days of training - 2024-11-01 - Demonstration - Unitree described combining simulation with real-world testing for robot training. The footage also showed the company’s Go2 balancing on two legs while being pushed and kicked. - source: mikekalil.com
Unitree launches G1 humanoid robot - 2024-05-13 - Product Launch - The approximately 127 cm, 35 kg platform includes Intel RealSense D435 sensing and LIVOX MID360 lidar, plus a quick-release battery rated for about two hours. G1 EDU supports optional Dex3-1 hands, tactile sensing and NVIDIA… - source: prnewswire.com