Auto-generated from CI on every push to main.
Each demo runs headless in GitHub Actions and produces visual checkpoint captures for planner, tracking, and integration paths.
Scripted 2-finger gripper grasping a cube. Multi-view captures at 4 checkpoints with interactive 3D scenes.
Unitree G1 reaching targets with whole-body control. Pinocchio + Pink differential-IK keeps balance while both arms reach 3D targets.
G1 stand → walk → stop using GR00T ONNX locomotion policies. Real 29-DOF model from HuggingFace with multi-camera captures.
Official LeRobot make_env() factory for standardized env
creation driven by GR00T Balance + Walk through VectorEnvAdapter.
The same native LeRobot make_env() integration exercised with
the SONIC planner for a controller-level comparison report.
Standalone GEAR-SONIC planner demo on the Unitree G1. Velocity commands
drive full-body pose trajectories through planner_sonic.onnx.
GEAR-SONIC encoder+decoder tracking on the G1. Replay motion clips via latent-space tracking with real checkpoint metrics and visual captures.