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How to Develop and Deploy Humanoid Robots End-to-End with NVIDIA Isaac GR00T and Unitree G1 - Home How to Develop and Deploy Humanoid Robots End-to-End with NVIDIA Isaac GR00T and Unitree G1 - Home

How to Develop and Deploy Humanoid Robots End-to-End with NVIDIA Isaac GR00T and Unitree G1

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How to Develop and Deploy Humanoid Robots End-to-End with NVIDIA Isaac GR00T and Unitree G1 - Home How to Develop and Deploy Humanoid Robots End-to-End with NVIDIA Isaac GR00T and Unitree G1 - Home

How to Develop and Deploy Humanoid Robots End-to-End with NVIDIA Isaac GR00T and Unitree G1
  • YouTube
  • Discord
  • Survey

Table of Contents

Contents

  • Getting Started
    • Concepts Overview
    • Agent Skills
    • Prerequisites
  • Simulation Workflow
    • Simulation Overview
    • Sim Setup: Isaac Lab-Arena
    • Sim Environment Code Review
    • Sim Teleop and WBC
    • Sim Data Export
    • GR00T Fine-Tuning on Sim Data
    • Sim Evaluation
  • Real Robot Workflow
    • Robot Workflow Overview
    • Isaac ROS Setup on Thor
    • G1 Introduction and Safety
    • Teleoperation
    • Data Recording
    • Data Export
    • Fine-Tuning
    • LEAPP Export
    • Deployment
  • Conclusion

Resources

  • Teleop Tips
  • Models and Datasets
  • Agent Skills
  • Repos
    • Isaac Lab-Arena
    • Isaac Teleop
    • Isaac ROS
    • Isaac GR00T
  • Documentation
    • Isaac Lab-Arena
    • Isaac Teleop
    • Isaac ROS
    • Isaac GR00T
    • Unitree G1 Developer Guide
  • Troubleshooting
  • Repos

Repos#

These repositories contain the source projects used by this workflow.

  • Isaac Lab-Arena

  • Isaac Teleop

  • Isaac ROS

  • Isaac GR00T

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Models and Datasets

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Documentation
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