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himrobot hitter v3 — per-serve parameter residual on a scripted IK hitterhimrobot hitter v3 — per-serve parameter residual on a scripted IK hitter
Akbar Sherzod KhamidovUnitree G1
Fixed-base 29-DoF Unitree G1, MuJoCo, 50 Hz. Scripted model-based IK hitter + a per-serve 13->64->64->20 residual MLP (NumPy runtime, no torch), trained with PPO at a 0.10 m offset stance. Measured 1,000-serve deterministic evaluation (seed 2000, mean action): 78.6% legal returns, 47.0% target hits, 0.288 m mean landing error, 88.3% paddle contact. Video: 10 serves, same policy. Simulation only.
Akbar Sherzod KhamidovUnitree G1