Alpslee

Free-standing 29-DoF Unitree G1 in MuJoCo (no fixed base, no balance assistance) returning forehand feeds. Upper body: scripted real-time controller (ball forecast with drag, Magnus and a fitted bounce; Ruckig-planned stroke). Legs: Unitree's pretrained locomotion network plus a balance residual we trained. Our evaluation on 50 unseen feeds: 44/50 legal first returns (25/25 standard, 19/25 wide; 5 of the 6 misses were feeds into the net). Simulation only, self-reported, not hardware-validated.

Alpslee·Unitree G1