HTD whole-body control lab

Loading MuJoCo and policy…

0.00 s feet · 0 0

Preparing the local simulation…

The physics and neural policy run in this browser.

Interactive simulation

Command the G1

Run the exported HTD policy at 50 Hz over a 200 Hz MuJoCo simulation.

Presets

Training range

Keyboard control

WASD walk · QE turn · HJ height · ZX roll · CV pitch · BN body yaw · Space run/pause · R reset.

Sliders cover the full demo command range. Reset after a fall.