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819 lines
34 KiB
819 lines
34 KiB
# Unitree G1 Glossary
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# Each term has: full_name, definition, unit (if applicable), typical_range, related_terms, related_topics
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# Organized by category, alphabetical within each category
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terms:
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# ============================================================
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# HARDWARE
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# ============================================================
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- term: "actuator"
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full_name: "Joint Actuator"
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definition: |
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Electric motor + gearbox assembly that drives a robot joint.
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The G1 uses low-inertia PMSM motors with compact planetary gearboxes,
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hollow shafts, and dual encoders per joint.
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unit: "Nm (torque output)"
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typical_range: "90-120 Nm (knee, varies by variant)"
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related_terms: ["pmsm", "planetary_gearbox", "joint", "dual_encoder"]
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related_topics: ["joint-configuration", "hardware-specs"]
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- term: "backdrivable"
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full_name: "Backdrivable Actuator"
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definition: |
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An actuator design where external forces can move the output shaft
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even when the motor is not powered. Enables compliant behavior and
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safe human-robot interaction. The G1's actuators are backdrivable.
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unit: null
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typical_range: null
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related_terms: ["actuator", "pmsm", "planetary_gearbox"]
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related_topics: ["joint-configuration"]
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- term: "crossed_roller_bearing"
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full_name: "Crossed Roller Bearing"
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definition: |
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Industrial-grade bearing with alternating roller orientations,
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providing high rigidity and load capacity in a compact form factor.
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Used in G1 joint assemblies.
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unit: null
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typical_range: null
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related_terms: ["actuator", "joint"]
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related_topics: ["joint-configuration"]
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- term: "dex3_1"
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full_name: "Dex3-1 Three-Fingered Dexterous Hand"
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definition: |
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Unitree's 3-finger dexterous hand with 7 DOF per hand (thumb 3,
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index 2, middle 2). Features 33 tactile sensors and force-position
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hybrid control. Available on EDU A/B variants.
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unit: null
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typical_range: "7 DOF per hand, 33 tactile sensors"
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related_terms: ["inspire_hand", "tactile_sensor", "force_position_hybrid"]
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related_topics: ["manipulation", "joint-configuration"]
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- term: "dof"
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full_name: "Degrees of Freedom"
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definition: |
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The number of independent joint axes the robot can actuate.
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The G1 is available in 23-DOF (base), 29-DOF (EDU), and 43-DOF
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(Ultimate, including dexterous hands) configurations.
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unit: "count"
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typical_range: "23-43 depending on variant"
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related_terms: ["joint", "actuator"]
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related_topics: ["joint-configuration", "hardware-specs"]
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- term: "inspire_hand"
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full_name: "INSPIRE DFX Dexterous Hand"
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definition: |
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Full 5-finger advanced dexterous hand available on G1 Flagship
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Version C. Provides enhanced precision manipulation compared to
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the Dex3-1. Compatible with ROS2 teleoperation.
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unit: null
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typical_range: null
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related_terms: ["dex3_1", "manipulation"]
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related_topics: ["manipulation"]
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- term: "joint"
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full_name: "Robot Joint"
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definition: |
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A single rotational axis connecting two links, driven by an actuator.
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Named using Unitree's convention: {side}_{body_part}_{axis}
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(e.g., left_hip_pitch, right_knee).
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unit: "rad (position), rad/s (velocity)"
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typical_range: "±2.97 rad max (hip_roll), 0-2.88 rad (knee)"
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related_terms: ["dof", "actuator", "dual_encoder"]
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related_topics: ["joint-configuration", "equations-and-bounds"]
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- term: "planetary_gearbox"
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full_name: "Planetary Gearbox"
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definition: |
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Compact gear reduction system used in G1 actuators. Provides
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high torque density in a small form factor. Gear ratios per
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joint not yet published.
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unit: null
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typical_range: null
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related_terms: ["actuator", "pmsm", "backdrivable"]
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related_topics: ["joint-configuration"]
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- term: "pmsm"
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full_name: "Permanent Magnet Synchronous Motor"
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definition: |
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The motor type used in all G1 joint actuators. Low-inertia
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internal rotor design with hollow shafts for reduced weight
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and internal wiring routing. Fast low-latency response.
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unit: null
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typical_range: null
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related_terms: ["actuator", "planetary_gearbox"]
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related_topics: ["joint-configuration", "hardware-specs"]
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# ============================================================
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# SENSORS
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# ============================================================
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- term: "dual_encoder"
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full_name: "Dual Encoder (per joint)"
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definition: |
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Two encoders per joint providing both position and velocity
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feedback. Part of the G1's proprioceptive sensing system.
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Data available in rt/lowstate motor_state.
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unit: "rad (position), rad/s (velocity)"
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typical_range: null
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related_terms: ["joint", "actuator", "state_estimation"]
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related_topics: ["sensors-perception", "joint-configuration"]
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- term: "imu"
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full_name: "Inertial Measurement Unit"
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definition: |
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6-axis sensor (3-axis accelerometer + 3-axis gyroscope) measuring
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body orientation and angular velocity. Critical for balance and
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locomotion control. Data in rt/lowstate imu_state field.
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unit: "m/s^2 (accel), rad/s (gyro)"
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typical_range: null
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related_terms: ["state_estimation", "dual_encoder"]
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related_topics: ["sensors-perception", "locomotion-control"]
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- term: "livox_mid360"
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full_name: "Livox MID360 3D LiDAR"
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definition: |
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360-degree 3D LiDAR sensor mounted on the G1's head. Provides
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point cloud data for SLAM, navigation, and obstacle avoidance.
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Connected via Ethernet at 192.168.123.20.
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unit: null
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typical_range: "360° horizontal, 59° vertical FOV"
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related_terms: ["realsense_d435i"]
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related_topics: ["sensors-perception", "networking-comms"]
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- term: "realsense_d435i"
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full_name: "Intel RealSense D435i Depth Camera"
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definition: |
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RGB-D depth camera mounted on the G1's head. Provides color and
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depth images for visual perception, obstacle detection, and
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manipulation. Standard specs: 1280x720@30fps (depth).
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unit: null
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typical_range: "87°x58° FOV (depth), up to 1920x1080 (RGB)"
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related_terms: ["livox_mid360"]
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related_topics: ["sensors-perception"]
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- term: "state_estimation"
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full_name: "State Estimation"
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definition: |
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Fusing IMU and joint encoder data to estimate the robot's full
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state (position, velocity, orientation). Runs on the locomotion
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computer at 500 Hz. Foundation for balance and locomotion control.
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unit: null
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typical_range: null
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related_terms: ["imu", "dual_encoder"]
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related_topics: ["locomotion-control", "sensors-perception"]
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- term: "tactile_sensor"
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full_name: "Tactile Sensor"
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definition: |
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Force/touch sensors integrated into the Dex3-1 hand fingertips.
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33 sensors per hand provide contact detection and force feedback
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for manipulation tasks.
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unit: null
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typical_range: "33 per hand (Dex3-1)"
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related_terms: ["dex3_1", "force_position_hybrid"]
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related_topics: ["manipulation", "sensors-perception"]
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# ============================================================
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# SOFTWARE & COMMUNICATION
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# ============================================================
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- term: "cyclone_dds"
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full_name: "CycloneDDS"
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definition: |
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The specific DDS implementation used by the G1. Version 0.10.2
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is mandatory — version mismatches cause silent communication
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failures. Used by both unitree_sdk2 and unitree_ros2.
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unit: null
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typical_range: "v0.10.2 (exact version required)"
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related_terms: ["dds", "unitree_sdk2", "ros2", "domain_id"]
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related_topics: ["networking-comms", "sdk-programming", "ros2-integration"]
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- term: "dds"
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full_name: "Data Distribution Service"
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definition: |
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Middleware protocol for real-time publish-subscribe communication.
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The G1 uses CycloneDDS 0.10.2 for all internal communication
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between computers and for external SDK/ROS2 access.
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unit: null
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typical_range: "2 ms latency, 500 Hz update rate"
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related_terms: ["cyclone_dds", "unitree_sdk2", "ros2", "domain_id"]
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related_topics: ["networking-comms", "sdk-programming"]
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- term: "domain_id"
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full_name: "DDS Domain ID"
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definition: |
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Identifier that partitions DDS communication. Used to separate
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simulated robot traffic from real robot traffic. Change domain ID
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to switch between sim and real — no code changes needed.
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unit: null
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typical_range: null
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related_terms: ["dds", "cyclone_dds", "sim_to_real"]
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related_topics: ["networking-comms", "simulation"]
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- term: "lowcmd"
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full_name: "Low-Level Command (rt/lowcmd)"
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definition: |
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DDS topic for sending motor commands to the robot. Published by
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user code, consumed by locomotion computer. Contains MotorCmd_
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structures for each joint (mode, q, dq, tau).
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unit: null
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typical_range: "Published at 500 Hz"
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related_terms: ["lowstate", "motor_cmd", "dds"]
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related_topics: ["sdk-programming", "joint-configuration"]
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- term: "lowstate"
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full_name: "Low-Level State (rt/lowstate)"
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definition: |
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DDS topic containing the full robot state. Published by locomotion
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computer, subscribed by user code. Includes IMU data, motor states,
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wireless remote, timing tick (1ms increment), and CRC checksum.
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unit: null
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typical_range: "Updated at 500 Hz"
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related_terms: ["lowcmd", "motor_cmd", "dds"]
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related_topics: ["sdk-programming", "sensors-perception"]
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- term: "motor_cmd"
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full_name: "Motor Command Structure (MotorCmd_)"
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definition: |
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Per-joint command in the LowCmd_ message. Fields: mode (0=disable,
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1=enable), q (target position in rad), dq (target velocity in rad/s),
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tau (feed-forward torque in Nm).
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unit: "rad, rad/s, Nm"
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typical_range: null
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related_terms: ["lowcmd", "force_position_hybrid"]
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related_topics: ["sdk-programming", "joint-configuration"]
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- term: "ota_update"
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full_name: "Over-The-Air Update"
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definition: |
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Firmware update mechanism allowing wireless updates to the G1's
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software. Enables seamless updates without physical access to
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internal storage.
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unit: null
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typical_range: null
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related_terms: []
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related_topics: ["deployment-operations"]
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- term: "pybind11"
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full_name: "pybind11 (C++/Python Binding)"
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definition: |
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Library used to create Python bindings for the C++ unitree_sdk2.
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Enables the unitree_sdk2_python package to maintain API consistency
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with the C++ SDK.
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unit: null
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typical_range: null
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related_terms: ["unitree_sdk2"]
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related_topics: ["sdk-programming"]
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- term: "ros2"
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full_name: "Robot Operating System 2"
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definition: |
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Open-source robotics middleware framework. The G1 supports ROS2
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via unitree_ros2 packages. Supported distros: Foxy (Ubuntu 20.04)
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and Humble (Ubuntu 22.04, recommended).
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unit: null
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typical_range: null
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related_terms: ["dds", "cyclone_dds", "unitree_sdk2"]
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related_topics: ["ros2-integration"]
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- term: "unitree_sdk2"
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full_name: "Unitree SDK 2.0"
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definition: |
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Official SDK for robot control. C++ (v2.0.2) with Python wrapper.
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Based on CycloneDDS 0.10.2. Provides low-level motor control,
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high-level sport mode, sensor access. BSD-3-Clause license.
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unit: null
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typical_range: "v2.0.2 (latest)"
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related_terms: ["dds", "cyclone_dds", "ros2", "pybind11"]
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related_topics: ["sdk-programming"]
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# ============================================================
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# CONTROL & LEARNING
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# ============================================================
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- term: "curriculum_learning"
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full_name: "Curriculum Learning"
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definition: |
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Training strategy that gradually increases task difficulty.
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Used in G1 locomotion policy training — multi-phase curriculum
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progresses from basic standing to complex gait transitions.
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unit: null
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typical_range: null
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related_terms: ["gait_conditioned_rl", "sim_to_real"]
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related_topics: ["learning-and-ai", "locomotion-control"]
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- term: "force_position_hybrid"
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full_name: "Force-Position Hybrid Control"
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definition: |
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Control mode combining position targets with torque feed-forward.
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Used in G1 actuators and Dex3-1 hand for compliant manipulation.
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Set both q (position) and tau (torque) in MotorCmd_.
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unit: null
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typical_range: null
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related_terms: ["motor_cmd", "actuator", "dex3_1"]
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related_topics: ["sdk-programming", "manipulation"]
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- term: "gait"
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full_name: "Gait Pattern"
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definition: |
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The cyclic pattern of leg movements during locomotion.
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G1 supports standing, walking, and smooth transitions between them.
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Controlled by gait-conditioned RL policy.
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unit: null
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typical_range: "0-2 m/s walking speed"
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related_terms: ["gait_conditioned_rl", "locomotion"]
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related_topics: ["locomotion-control"]
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- term: "gait_conditioned_rl"
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full_name: "Gait-Conditioned Reinforcement Learning"
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definition: |
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The G1's locomotion control framework. Uses one-hot gait ID for
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dynamic gait switching, gait-specific reward routing, and
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biomechanically inspired reward shaping. Trained in simulation.
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Reference: arXiv:2505.20619.
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unit: null
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typical_range: null
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related_terms: ["gait", "curriculum_learning", "sim_to_real"]
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related_topics: ["locomotion-control", "learning-and-ai"]
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- term: "sim_to_real"
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full_name: "Sim-to-Real Transfer"
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definition: |
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Deploying policies trained in simulation to physical hardware.
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The G1 ecosystem supports seamless transfer — same DDS API in sim
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and real, only network config changes. Domain randomization used
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for robustness.
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unit: null
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typical_range: null
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related_terms: ["domain_id", "gait_conditioned_rl"]
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related_topics: ["simulation", "learning-and-ai"]
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# ============================================================
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# COMPUTE & ARCHITECTURE
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# ============================================================
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- term: "development_computer"
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full_name: "Development Computer (PC2)"
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definition: |
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User-accessible NVIDIA Jetson Orin NX 16GB computer on the G1.
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Runs user applications, AI models, and perception pipelines.
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IP: 192.168.123.164. Available on EDU variants.
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unit: null
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typical_range: "100 TOPS AI performance"
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related_terms: ["jetson_orin_nx", "locomotion_computer", "dual_computer_architecture"]
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related_topics: ["hardware-specs", "networking-comms"]
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- term: "dual_computer_architecture"
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full_name: "Hierarchical Dual-Computer Architecture"
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definition: |
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The G1's computing design: a proprietary locomotion computer
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(192.168.123.161) handles real-time motor control at 500 Hz,
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while a user-accessible development computer (192.168.123.164,
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Jetson Orin NX) runs applications. They communicate via CycloneDDS.
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unit: null
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typical_range: null
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related_terms: ["locomotion_computer", "development_computer", "dds"]
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related_topics: ["hardware-specs", "networking-comms"]
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- term: "jetson_orin_nx"
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full_name: "NVIDIA Jetson Orin NX 16GB"
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definition: |
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AI computing module on the G1 (EDU variants). Provides 100 TOPS
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of AI performance for perception, planning, and neural network
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inference. Runs Linux.
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unit: "TOPS"
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typical_range: "100 TOPS"
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related_terms: ["development_computer", "dual_computer_architecture"]
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related_topics: ["hardware-specs"]
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- term: "locomotion_computer"
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full_name: "Locomotion Computer (PC1)"
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definition: |
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Proprietary computer handling real-time motor control, balance,
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and gait execution at 500 Hz. NOT user-accessible. Exposes
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control APIs via CycloneDDS. IP: 192.168.123.161.
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unit: null
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typical_range: "500 Hz control loop"
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related_terms: ["development_computer", "dual_computer_architecture"]
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related_topics: ["hardware-specs", "locomotion-control"]
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# ============================================================
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# POWER
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# ============================================================
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- term: "battery_capacity"
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full_name: "Battery Capacity"
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definition: |
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The G1 uses a 13-cell LiPo battery with 9,000 mAh capacity
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and quick-release smart connector. Estimated ~432 Wh energy.
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Charger: 100-240V AC input, 54V/5A DC output.
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unit: "mAh / Wh"
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typical_range: "9,000 mAh (~432 Wh)"
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related_terms: ["runtime"]
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related_topics: ["power-system"]
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- term: "runtime"
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full_name: "Battery Runtime"
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definition: |
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Duration of operation on a single charge. ~2 hours continuous
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for standard G1, up to 6 hours for G1-D (wheeled variant).
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Varies significantly by activity profile.
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unit: "hours"
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typical_range: "~2 hours (continuous operation)"
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related_terms: ["battery_capacity"]
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related_topics: ["power-system", "deployment-operations"]
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# ============================================================
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# SAFETY
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# ============================================================
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- term: "e_stop"
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full_name: "Emergency Stop"
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definition: |
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Hardware button and software API to immediately halt all robot
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motion. Available on physical robot and via wireless remote.
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Must explicitly re-enable robot after triggering.
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unit: null
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typical_range: null
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related_terms: ["safety_limits"]
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related_topics: ["safety-limits", "deployment-operations"]
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- term: "safety_limits"
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full_name: "Safety Limits"
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definition: |
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The collection of joint position limits, torque limits, velocity
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limits, and operational constraints that bound safe robot behavior.
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Enforced by locomotion computer and optionally by user safety wrappers.
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unit: null
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typical_range: null
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related_terms: ["e_stop", "joint"]
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related_topics: ["safety-limits", "equations-and-bounds"]
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# ============================================================
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# WHOLE-BODY CONTROL & BALANCE
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# ============================================================
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- term: "whole_body_control"
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full_name: "Whole-Body Control (WBC)"
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definition: |
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Control framework treating the entire robot as one coordinated system.
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Solves for all joint commands simultaneously subject to task objectives,
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balance constraints, and physical limits. Enables mocap tracking while
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maintaining stability.
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unit: null
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typical_range: null
|
|
related_terms: ["task_space_inverse_dynamics", "groot_wbc", "qp_solver"]
|
|
related_topics: ["whole-body-control", "locomotion-control"]
|
|
|
|
- term: "task_space_inverse_dynamics"
|
|
full_name: "Task-Space Inverse Dynamics (TSID)"
|
|
definition: |
|
|
QP-based optimization that computes joint torques to achieve desired
|
|
task-space accelerations while respecting balance, joint limits, and
|
|
contact constraints. Used with Pinocchio library.
|
|
unit: null
|
|
typical_range: "1-5ms compute time per step"
|
|
related_terms: ["whole_body_control", "pinocchio", "qp_solver"]
|
|
related_topics: ["whole-body-control", "equations-and-bounds"]
|
|
|
|
- term: "operational_space_control"
|
|
full_name: "Operational Space Control"
|
|
definition: |
|
|
Control framework where tasks are specified in Cartesian/operational
|
|
space (end-effector positions) and mapped to joint space via the
|
|
robot's Jacobian. Foundation for task-priority WBC.
|
|
unit: null
|
|
typical_range: null
|
|
related_terms: ["whole_body_control", "inverse_kinematics"]
|
|
related_topics: ["whole-body-control"]
|
|
|
|
- term: "centroidal_dynamics"
|
|
full_name: "Centroidal Dynamics"
|
|
definition: |
|
|
Simplified dynamics model using the robot's center of mass and
|
|
angular momentum. Used in MPC-based WBC for computationally efficient
|
|
balance planning. Captures whole-body momentum in 6 DOF.
|
|
unit: null
|
|
typical_range: null
|
|
related_terms: ["whole_body_control", "com"]
|
|
related_topics: ["whole-body-control", "equations-and-bounds"]
|
|
|
|
- term: "qp_solver"
|
|
full_name: "Quadratic Program Solver"
|
|
definition: |
|
|
Optimization solver for convex quadratic objectives with linear
|
|
constraints. Core of model-based WBC — solves for joint accelerations
|
|
or torques at each control step. Must run within 2ms for 500 Hz.
|
|
unit: null
|
|
typical_range: "< 2ms solve time for real-time WBC"
|
|
related_terms: ["task_space_inverse_dynamics", "whole_body_control"]
|
|
related_topics: ["whole-body-control"]
|
|
|
|
- term: "groot_wbc"
|
|
full_name: "GR00T-WholeBodyControl (NVIDIA)"
|
|
definition: |
|
|
NVIDIA's open-source WBC framework for humanoid robots including G1.
|
|
Decouples RL locomotion (lower body) from task control (upper body).
|
|
Integrates with LeRobot and Isaac Lab. Apache 2.0 license.
|
|
unit: null
|
|
typical_range: null
|
|
related_terms: ["whole_body_control", "lerobot"]
|
|
related_topics: ["whole-body-control", "learning-and-ai"]
|
|
|
|
# ============================================================
|
|
# MOTION RETARGETING
|
|
# ============================================================
|
|
- term: "motion_retargeting"
|
|
full_name: "Motion Retargeting"
|
|
definition: |
|
|
Mapping motion from one kinematic structure (e.g., human) to another
|
|
(e.g., G1 robot). Must handle DOF mismatch, limb proportion differences,
|
|
and joint limit constraints. Can be IK-based, optimization-based, or RL-based.
|
|
unit: null
|
|
typical_range: null
|
|
related_terms: ["mocap", "inverse_kinematics", "smpl", "kinematic_scaling"]
|
|
related_topics: ["motion-retargeting"]
|
|
|
|
- term: "mocap"
|
|
full_name: "Motion Capture"
|
|
definition: |
|
|
Recording human body movement for analysis or retargeting to robots.
|
|
Sources: marker-based (OptiTrack/Vicon), markerless (Kinect, MediaPipe),
|
|
VR-based (Vision Pro, Quest 3), or video-based (OpenPose, HMR2.0).
|
|
unit: null
|
|
typical_range: null
|
|
related_terms: ["motion_retargeting", "amass", "xr_teleoperate"]
|
|
related_topics: ["motion-retargeting", "manipulation"]
|
|
|
|
- term: "amass"
|
|
full_name: "Archive of Motion Capture as Surface Shapes"
|
|
definition: |
|
|
Largest public human motion dataset (11,000+ sequences from 15 datasets).
|
|
Uses SMPL body model format. Pre-retargeted for G1 available on
|
|
HuggingFace (unitree). Used for RL training reference motions.
|
|
unit: null
|
|
typical_range: "11,000+ motion sequences"
|
|
related_terms: ["smpl", "mocap", "motion_retargeting"]
|
|
related_topics: ["motion-retargeting", "learning-and-ai"]
|
|
|
|
- term: "smpl"
|
|
full_name: "Skinned Multi-Person Linear Model"
|
|
definition: |
|
|
Standard parametric human body model. 72 pose params (24 joints x 3)
|
|
+ 10 shape params → 6,890 vertex mesh. AMASS uses SMPL format.
|
|
Retargeting requires mapping SMPL joints to G1 joints.
|
|
unit: null
|
|
typical_range: "24 joints, 72 pose parameters"
|
|
related_terms: ["amass", "mocap", "motion_retargeting"]
|
|
related_topics: ["motion-retargeting"]
|
|
|
|
- term: "kinematic_scaling"
|
|
full_name: "Kinematic Scaling"
|
|
definition: |
|
|
Adjusting motion data to account for differences in limb lengths
|
|
between source (human) and target (robot). Maps end-effector
|
|
positions proportionally to robot workspace.
|
|
unit: null
|
|
typical_range: null
|
|
related_terms: ["motion_retargeting", "inverse_kinematics"]
|
|
related_topics: ["motion-retargeting", "equations-and-bounds"]
|
|
|
|
- term: "inverse_kinematics"
|
|
full_name: "Inverse Kinematics (IK)"
|
|
definition: |
|
|
Computing joint angles to achieve a desired end-effector position.
|
|
Used in motion retargeting to map human keypoints to G1 joint angles.
|
|
Solvers: Pinocchio, MuJoCo IK, IKPy.
|
|
unit: null
|
|
typical_range: "< 1ms per frame (Pinocchio)"
|
|
related_terms: ["motion_retargeting", "kinematic_scaling", "pinocchio"]
|
|
related_topics: ["motion-retargeting", "whole-body-control"]
|
|
|
|
# ============================================================
|
|
# PUSH RECOVERY & BALANCE
|
|
# ============================================================
|
|
- term: "push_recovery"
|
|
full_name: "Push Recovery"
|
|
definition: |
|
|
The robot's ability to maintain balance after being pushed. Strategies
|
|
include ankle (small pushes), hip (medium), and stepping (large).
|
|
RL policies trained with perturbation curriculum achieve robust recovery.
|
|
unit: null
|
|
typical_range: "~30-60 N·s recoverable impulse (estimated)"
|
|
related_terms: ["ankle_strategy", "hip_strategy", "stepping_strategy", "perturbation_curriculum"]
|
|
related_topics: ["push-recovery-balance", "locomotion-control"]
|
|
|
|
- term: "ankle_strategy"
|
|
full_name: "Ankle Push Recovery Strategy"
|
|
definition: |
|
|
Responding to small perturbations by adjusting ankle torque to shift
|
|
center of pressure within the foot. Fastest response (~50ms).
|
|
Limited to pushes that keep CoM within foot support area.
|
|
unit: null
|
|
typical_range: null
|
|
related_terms: ["push_recovery", "hip_strategy", "stepping_strategy"]
|
|
related_topics: ["push-recovery-balance"]
|
|
|
|
- term: "hip_strategy"
|
|
full_name: "Hip Push Recovery Strategy"
|
|
definition: |
|
|
Responding to medium perturbations by rapid hip flexion/extension
|
|
to shift center of mass back over support. Often combined with arm
|
|
countermotion. Response time ~100-200ms.
|
|
unit: null
|
|
typical_range: null
|
|
related_terms: ["push_recovery", "ankle_strategy", "stepping_strategy"]
|
|
related_topics: ["push-recovery-balance"]
|
|
|
|
- term: "stepping_strategy"
|
|
full_name: "Stepping Push Recovery Strategy"
|
|
definition: |
|
|
Responding to large perturbations by taking a recovery step to
|
|
create a new support polygon under the shifted CoM. Most complex
|
|
strategy, requires free space for foot placement.
|
|
unit: null
|
|
typical_range: null
|
|
related_terms: ["push_recovery", "ankle_strategy", "hip_strategy", "support_polygon"]
|
|
related_topics: ["push-recovery-balance"]
|
|
|
|
- term: "residual_policy"
|
|
full_name: "Residual Policy"
|
|
definition: |
|
|
A small correction policy layered on top of a base controller.
|
|
Output: a_final = a_base + α * a_residual (α < 1 for safety).
|
|
Safest approach for enhancing G1 balance without full controller replacement.
|
|
unit: null
|
|
typical_range: "α ∈ [0, 1] scaling factor"
|
|
related_terms: ["push_recovery", "perturbation_curriculum"]
|
|
related_topics: ["push-recovery-balance", "learning-and-ai"]
|
|
|
|
- term: "control_barrier_function"
|
|
full_name: "Control Barrier Function (CBF)"
|
|
definition: |
|
|
Safety-critical control theory tool that guarantees a system stays within
|
|
a defined safe set: h(x) ≥ 0. Applied to balance (CoM within support
|
|
polygon) and collision avoidance. Validated on G1 (arXiv:2502.02858).
|
|
unit: null
|
|
typical_range: null
|
|
related_terms: ["push_recovery", "support_polygon", "qp_solver"]
|
|
related_topics: ["push-recovery-balance", "safety-limits"]
|
|
|
|
- term: "support_polygon"
|
|
full_name: "Support Polygon"
|
|
definition: |
|
|
Convex hull of all foot contact points on the ground. For static
|
|
stability, the CoM projection must remain within this polygon.
|
|
Changes shape during walking (single vs. double support phases).
|
|
unit: "m^2 (area)"
|
|
typical_range: "~0.15-0.25m width (stance dependent)"
|
|
related_terms: ["push_recovery", "control_barrier_function"]
|
|
related_topics: ["push-recovery-balance", "equations-and-bounds"]
|
|
|
|
- term: "perturbation_curriculum"
|
|
full_name: "Perturbation Curriculum Training"
|
|
definition: |
|
|
RL training strategy that applies progressively increasing external
|
|
forces to the robot during simulation. Starts with small pushes (10-30N),
|
|
increases to large (80-200N). Produces policies robust to real-world pushes.
|
|
unit: null
|
|
typical_range: "10-200 N push force range"
|
|
related_terms: ["push_recovery", "curriculum_learning", "sim_to_real"]
|
|
related_topics: ["push-recovery-balance", "learning-and-ai"]
|
|
|
|
# ============================================================
|
|
# FRAMEWORKS & LIBRARIES
|
|
# ============================================================
|
|
- term: "pinocchio"
|
|
full_name: "Pinocchio (Rigid Body Dynamics Library)"
|
|
definition: |
|
|
Open-source C++/Python library for rigid body dynamics computations.
|
|
Provides forward/inverse kinematics, Jacobians, inverse dynamics,
|
|
and derivatives. Foundation for model-based WBC. BSD-2 license.
|
|
unit: null
|
|
typical_range: null
|
|
related_terms: ["task_space_inverse_dynamics", "inverse_kinematics", "whole_body_control"]
|
|
related_topics: ["whole-body-control", "motion-retargeting"]
|
|
|
|
- term: "h2o"
|
|
full_name: "H2O: Human-to-Humanoid Teleoperation"
|
|
definition: |
|
|
Research framework (arXiv:2403.01623) for real-time human-to-humanoid
|
|
whole-body teleoperation. RL policy trained to imitate human demonstrations
|
|
while maintaining balance. Proves combined mocap + balance paradigm.
|
|
unit: null
|
|
typical_range: null
|
|
related_terms: ["omnih2o", "whole_body_control", "teleoperation"]
|
|
related_topics: ["whole-body-control", "motion-retargeting"]
|
|
|
|
- term: "omnih2o"
|
|
full_name: "OmniH2O: Universal Teleoperation"
|
|
definition: |
|
|
Extension of H2O (arXiv:2406.08858) supporting multiple input modalities
|
|
(VR, RGB camera, mocap). Trains universal policy generalizing across
|
|
operators. Supports both real-time teleop and autonomous replay.
|
|
unit: null
|
|
typical_range: null
|
|
related_terms: ["h2o", "whole_body_control", "mocap"]
|
|
related_topics: ["whole-body-control", "motion-retargeting"]
|
|
|
|
# ============================================================
|
|
# OPERATIONS & TOOLS
|
|
# ============================================================
|
|
- term: "lerobot"
|
|
full_name: "LeRobot (HuggingFace)"
|
|
definition: |
|
|
Open-source imitation learning framework. Modified version
|
|
(unitree_IL_lerobot) supports G1 dual-arm dexterous hand training.
|
|
Supports 29-DOF and 23-DOF G1 configs with gr00t_wbc locomotion.
|
|
unit: null
|
|
typical_range: null
|
|
related_terms: ["xr_teleoperate", "teleoperation"]
|
|
related_topics: ["learning-and-ai"]
|
|
|
|
- term: "teleoperation"
|
|
full_name: "Teleoperation"
|
|
definition: |
|
|
Remote human control of the robot, typically for data collection.
|
|
The G1 supports XR device teleoperation (Vision Pro, PICO 4,
|
|
Quest 3) and Kinect body tracking teleoperation.
|
|
unit: null
|
|
typical_range: null
|
|
related_terms: ["xr_teleoperate", "lerobot"]
|
|
related_topics: ["manipulation", "learning-and-ai"]
|
|
|
|
- term: "xr_teleoperate"
|
|
full_name: "XR Teleoperation System"
|
|
definition: |
|
|
Unitree's official XR-based teleoperation system. Supports Apple
|
|
Vision Pro, PICO 4 Ultra, Meta Quest 3. Enables hand/controller
|
|
tracking with built-in episode recording for imitation learning.
|
|
unit: null
|
|
typical_range: null
|
|
related_terms: ["teleoperation", "lerobot", "dex3_1"]
|
|
related_topics: ["manipulation", "learning-and-ai"]
|
|
|
|
# ============================================================
|
|
# GB10 & DEPLOYMENT (Phase 3)
|
|
# ============================================================
|
|
- term: "dell_pro_max_gb10"
|
|
full_name: "Dell Pro Max Desktop GB10"
|
|
definition: |
|
|
NVIDIA Grace Blackwell workstation (aarch64). 128 GB unified LPDDR5X,
|
|
1000 TFLOPS FP4, sm_121. Used as offboard AI brain for G1.
|
|
GR00T-WBC deployed and verified. Ubuntu 24.04, driver 580.95.05.
|
|
unit: null
|
|
typical_range: "1000 TFLOPS (FP4)"
|
|
related_terms: ["groot_wbc", "jetson_orin_nx"]
|
|
related_topics: ["gb10-offboard-compute", "whole-body-control"]
|
|
|
|
- term: "onnx_policy"
|
|
full_name: "ONNX Neural Network Policy"
|
|
definition: |
|
|
Pre-trained RL policy exported in ONNX format for deployment.
|
|
GR00T-WBC ships Balance and Walk policies: 516-dim observation
|
|
(proprioception + history) → 15-dim action (lower body joint targets).
|
|
Trained with PPO in Isaac Lab. Inference via onnxruntime.
|
|
unit: null
|
|
typical_range: "516-dim obs → 15-dim action, < 1ms inference"
|
|
related_terms: ["groot_wbc", "sim_to_real", "gait_conditioned_rl"]
|
|
related_topics: ["whole-body-control", "learning-and-ai"]
|
|
|
|
- term: "nomachine"
|
|
full_name: "NoMachine Remote Desktop"
|
|
definition: |
|
|
Remote desktop software using NX protocol. Used for GB10 headless
|
|
access. Creates virtual desktops on headless servers. Better than
|
|
VNC for GPU content but GLFW passive viewer still stalls.
|
|
unit: null
|
|
typical_range: "Port 4000 (NX protocol)"
|
|
related_terms: ["dell_pro_max_gb10"]
|
|
related_topics: ["gb10-offboard-compute"]
|
|
|
|
- term: "ppo"
|
|
full_name: "Proximal Policy Optimization"
|
|
definition: |
|
|
RL algorithm from OpenAI, standard for locomotion policy training.
|
|
Used by NVIDIA (via RSL-RL) to train GR00T-WBC Balance and Walk
|
|
policies. Clip-based surrogate objective for stable training.
|
|
unit: null
|
|
typical_range: null
|
|
related_terms: ["gait_conditioned_rl", "curriculum_learning", "sim_to_real"]
|
|
related_topics: ["learning-and-ai", "whole-body-control"]
|
|
|
|
- term: "rsl_rl"
|
|
full_name: "RSL-RL (Robotic Systems Lab RL)"
|
|
definition: |
|
|
GPU-optimized RL training library from ETH Zurich RSL. Used with
|
|
Isaac Lab for locomotion policy training. Implements PPO optimized
|
|
for parallel simulation. Standard for legged robot RL.
|
|
unit: null
|
|
typical_range: null
|
|
related_terms: ["ppo", "curriculum_learning"]
|
|
related_topics: ["learning-and-ai"]
|
|
|
|
- term: "isaac_lab"
|
|
full_name: "NVIDIA Isaac Lab"
|
|
definition: |
|
|
NVIDIA's robot learning framework built on Isaac Sim. GPU-parallelized
|
|
physics simulation for large-scale RL training. Used to train GR00T-WBC
|
|
policies. Supports domain randomization, terrain generation, and
|
|
whole-body control training workflows.
|
|
unit: null
|
|
typical_range: "4096+ parallel environments on single GPU"
|
|
related_terms: ["ppo", "rsl_rl", "groot_wbc", "sim_to_real"]
|
|
related_topics: ["simulation", "learning-and-ai", "whole-body-control"]
|