WBC-AGILE

Real public G1 checkpoint using the published recurrent history tensors and lower-body target mapping, driven by the staged velocity-tracking script rather than a single constant command. This page keeps the full charts, playback, and downloadable artifacts.

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

WBC-AGILE

NVIDIA Isaac · Published G1 locomotion checkpoint on the public 29-DOF embodiment

wbc_agile

?? REAL MUJOCO SIM VELOCITY_SCHEDULE runtime.velocity_schedule

Real public G1 checkpoint using the published recurrent history tensors and lower-body target mapping, driven by the staged velocity-tracking script rather than a single constant command.

Robotunitree_g1_35dof_wbc_agile

Ticks400

Avg inference0.474 ms

Achieved rate45.31 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 wbc_agile

Policy family wbc_agile

Command kind velocity_schedule

Expected behavior Published G1 locomotion checkpoint on the public 29-DOF embodiment

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 NVIDIA Isaac G1 ONNX checkpoint

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/wbc-agile/unitree_g1_velocity_e2e.onnx

Command source runtime.velocity_schedule

First target frame [-0.194, 0.085, -0.032, 0.416, -0.487, -0.211, ...]

Last target frame [-0.420, 0.199, -0.016, 0.691, -0.489, 0.015, ...]

Quality verdict ??

Verdict basis mixed velocity metrics

Mean joint error 0.040 rad

Joint error p95 0.184 rad

Peak joint error 1.682 rad

Min base height 0.701 m

Frames height < 0.4 m 0

VX RMSE 0.291 m/s

Yaw RMSE 0.404 rad/s

Heading change -75.9 deg

Forward distance 2.607 m

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