Decoupled WBC

Real public GR00T WholeBodyControl run inside the MuJoCo-backed G1 showcase, driven by the same staged locomotion script used for the velocity-only cards. This page keeps the full charts, playback, and downloadable artifacts.

Generated: 2026-04-24 02:27:15Z Commit: f1b940ac0f78 Actions run

Decoupled WBC

NVIDIA GR00T · Lower-body RL locomotion with default upper-body posture

decoupled_wbc

?? REAL MUJOCO SIM VELOCITY_SCHEDULE runtime.velocity_schedule

Real public GR00T WholeBodyControl run inside the MuJoCo-backed G1 showcase, driven by the same staged locomotion script used for the velocity-only cards.

Robotunitree_g1_decoupled_wbc

Ticks400

Avg inference0.316 ms

Achieved rate45.69 Hz

Target positions

Body vx command vs actual

Yaw rate command vs actual

Inference latency

Embedded Rerun viewer Fetches run.rrd lazily when the viewer enters the viewport.

Preparing interactive view Loads the viewer runtime and recording on demand when visible.

Case key decoupled_wbc

Policy family decoupled_wbc

Command kind velocity_schedule

Expected behavior Lower-body RL locomotion with default upper-body posture

Showcase transport MuJoCo sim

Embodiment assets/robots/unitree_g1/g1_29dof.xml

MuJoCo model variant meshless-public-mjcf+ground-plane

Command data [2.000, 0.000, 0.000, 0.000, 0.600, 0.000, ...]

Checkpoint source Published GR00T WholeBodyControl ONNX checkpoints

Demo family Velocity tracking

Demo sequence Stand, accelerate from 0.0 to 0.6 m/s over 2 s, command a 90 degree right turn over 1 s, accelerate into a 1.0 m/s run over 3 s, then settle back to stand.

Model artifact models/decoupled-wbc/GR00T-WholeBodyControl-Walk.onnx

Command source runtime.velocity_schedule

First target frame [-0.156, 0.021, -0.015, 0.426, -0.147, 0.021, ...]

Last target frame [-0.367, 0.018, -0.012, 0.678, -0.172, 0.004, ...]

Quality verdict ??

Verdict basis mixed velocity metrics

Mean joint error 0.046 rad

Joint error p95 0.189 rad

Peak joint error 0.902 rad

Min base height 0.734 m

Frames height < 0.4 m 0

VX RMSE 0.165 m/s

Yaw RMSE 0.304 rad/s

Heading change -83.8 deg

Forward distance 3.887 m

Rerun recording · JSON summary · run log · Proof-pack manifest · configs/showcase/decoupled_wbc_real.toml

Visual checkpoints

Each image overlays the target pose in blue against the actual replayed pose in orange. The checkpoints are selected from the replay trace so you can cross-check startup, motion onset, peak latency, furthest progress, and final state without opening a second report.