TRACE: Efficient Transfer Learning for Neural Whole-Body Control Across Humanoid Embodiments - 2026-10-13 - Research Publication - TRACE adapts a pretrained SONIC whole-body controller from Unitree G1 to H2 through kinematic pre-adaptation, distilled representations and low-rank reinforcement learning. The study combines simulation motion tracking… - source: arxiv.org
unitreerobotics/unitree_mujoco - Research Publication - Unitree’s MuJoCo simulator integrates low-level SDK2 control with C++ and Python simulation. It supplies robot models, joint-command/state interfaces, terrain tools and controller examples for digital validation. - source: github.com
Unitree robot descriptions and simulation packages - Research Publication - Unitree's shared robot-description and simulation repository publishes robot models, meshes and ROS control packages for multiple platforms. - source: github.com
Unitree SDK2 control interfaces and examples - Research Publication - Unitree SDK2 supplies C++ communication libraries and platform-specific examples for robot control. The source separates G1, H1, H2 and R1 examples alongside quadrupeds and shared DDS interfaces. - source: github.com