unitree-go1

This is the official implementation of the ICRA 2025 paper TANGO: Traversability-Aware Navigation with Local Metric Control for Topological Goals

A training and deployment pipeline for visuomotor RL policy used to enhance the locomotion of Unitree Go1 robot dog.

go1pylib is a Python library designed to control the Go1 robot by Unitree Robotics. It provides an easy-to-use interface for robot movement, state management, collision avoidance, battery monitoring, and MQTT communication. Ideal for research and robotics development. https://pypi.org/project/go1pylib/

Reinforcement learning with Flax NNX

Near-complete Unitree Go1 Pro backup (Pi + both Jetson Nanos, sanitized — no secrets). MISSING the head Nano .13, which is dead on my unit so my front cameras don't work. 🙏 PLEASE — if you have a working Go1 with a live .13 Nano, send me a backup/image of it (issue or PR). Not even sure it's recoverable, but a reference would mean a lot.

PPO-based blind locomotion for the Unitree Go1 quadruped using proprioceptive sensing. Dual MuJoCo/Genesis backend with ~85x GPU training speedup and 1.41 m/s learned gait.

Explore an innovative undergraduate research project featuring a Unitree robot dog that communicates through speech, dances, and navigates using Python and the Google Text-to-Speech (gTTS) library.

AI-powered surveillance system built on the Unitree Go1 robot dog

This project showcases various functionalities for the Go-1 🤖, including voice interaction, Wi-Fi setup, movement, and navigation.

The repo for the Master's Thesis "Verbal robot dog training"

Official repository for the IEEE paper "Distributed Hybrid Control Architecture for Quadrupeds in Human-Robot Interaction Tasks". Features ROS Noetic, YOLOv8 segmentation, Gazebo simulation, and reactive obstacle avoidance for the Unitree Go1.

A three-tier learning stack that turns a simulated Unitree Go1 quadruped into something that acts like a cat.