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humanoidrobots.training

Starting viewport

Unitree Robotics · humanoid

Unitree H1-2

Revised H1 with 7-DOF arms, added ankle DOF and higher arm payload, trading top speed for manipulation.

Frames · Unitree H1-2

3 items · credit and license on each
  • Unitree H1-2 studio render, three-quarter front view
    Studio render of the published MJCF, the model's zero pose. Geometry only; colours are the model's own materials.Rendered by Hyperspawn from unitreerobotics/unitree_mujoco (BSD-3-Clause) · Hyperspawn render · source
  • Unitree H1-2 studio render, side view
    Side view of the same MJCF render, the model's zero pose.Rendered by Hyperspawn from unitreerobotics/unitree_mujoco (BSD-3-Clause) · Hyperspawn render · source
  • 4 s turntable of the MJCF studio render.Rendered by Hyperspawn from unitreerobotics/unitree_mujoco (BSD-3-Clause) · Hyperspawn render · source

Provenance

No browser-ready model packaged yet.

The description is public, but nobody has pinned a commit and checked it compiles in MuJoCo WASM. Clone it and drop the folder on the viewport above (MJCF, or URDF with STL/OBJ meshes). Files stay in your tab.

Policies listed for Unitree H1-2

No published policy we can replay yet.

Nothing is playing a trained controller in the viewport above. What you see is a PD hold on the stand pose, computed in your tab. A policy plays here when a checkpoint is published with an obs/action contract we can reproduce exactly in MuJoCo, and it passes a 30 s walk test in the tab.

Set up a training run

Train on GPUs

mjlab ships no stock task for Unitree H1-2. The training page gives you the pinned model and the steps to write a robot config.

Build the job →