tkuruvila

A learned whole-body forehand for the Unitree G1, trained with PPO in mjlab. Stage 1 learns to follow 16 planned strokes, and stage 2 learns to hit incoming balls. Legal returns on the builder kit's robot model: 100% of 1,200 balls on core feeds and 79% on wide feeds, with no falls. Includes a ROS 2 robot package. Simulation only, with no perception or hardware run yet.

tkuruvila·Unitree G1