Cross-embodiment replay: Atlas door policy on a G1
Grasping transferred surprisingly well. Wrist rotation did not — 93.1% drops to 71.4%. Video shows the exact failure moment.
G1
Humanoid · 128K episodes · 54 tasks
ActiveHardware specs
1.32 m, ~35 kg humanoid with 23 joints (up to 43 in dexterous configurations). The most common humanoid in academic labs.
- 54
- 128K
- 1.9K
- 19
- 75K
- Lab
Skill profile
Measured success rate on the most recent 1,000 evaluation rollouts per task.
Teleoperated pick from floor
82.0%
14K episodes trained
Door opening
71.4%
9.2K episodes trained
Tray carry while walking
65.8%
5.3K episodes trained
Learning activity
Cross-embodiment transfer test
4 days agoA door-opening policy trained on a larger humanoid dropped to 71.4% on G1
71.4% success · 9.2K episodes
Three-finger hand upgrade
1 week agoDexterous hand option raises joint count to 43
78.2% success · 1.2K episodes
Community posts about G1
Linked datasets, policies & papers
Resolving related models, datasets and papers…