Unitree Robotics is focusing on the R&D, production, and sales of consumer and industry-class high-performance general-purpose legged and humanoid robots, six-axis manipulators, and so on. We attaches great importance to independent research and development and technological innovation, fully self-researching key core robot components such as motors, reducers, controllers, LIDAR and high-performance perception and motion control algorithms, integrating the entire robotics industry chain.
Open source projects
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| AGI | unifolm-world-model-action UnifoLM-WMA-0 is Unitree‘s open-source world-model–action architecture spanning multiple types of robotic embodiments, designed specifically for general-purpose robot learning. |
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| unifolm-vla UnifoLM-VLA-0 is a Vision–Language–Action (VLA) large model in the UnifoLM series, designed for general-purpose humanoid robot manipulation. |
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| Locomotion | unitree_rl_gym An Issac simulation example for reinforcement learning, supports Go2, H1, G1. |
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| unitree_rl_lab Reinforcement learning implementation for Unitree robots, based on IsaacLab. |
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| unitree_rl_mjlab Reinforcement learning implementation for Unitree robots, based on Mujoco. |
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| unitree_mujoco Use Mujoco as a simulator and has sim-to-real implementations, integrate with terrain generator. Support C++/Python interface. |
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| Manipulation | xr_teleoperate Teleoperate Unitree G1, H1, H1_2 and more via XR devices (Apple Vision Pro, PICO, Quest) with integrated data recording. |
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| unitree_lerobot An end-to-end embodied AI framework tailored for Unitree robots (G1, H1, etc.), seamlessly integrating standardized data conversion, LeRobot policy training and inference, and closed-loop real-world deployment. |
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| unitree_sim_isaaclab A high-fidelity simulation platform based on Isaac Lab supports Unitree robots (G1, H1-2, etc.) and employs the same DDS communication interface as the physical robots. |
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| teleimager An image server that captures video streams from multiple cameras (UVC, OpenCV, and RealSense) and publishes them over the network using ZeroMQ or WebRTC. |
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| Robot SDK | unitree_sdk2 An SDK package used to develop Go2, B2, H1, G1, H2, R1, A2 robots in real environments. |
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| unitree_sdk2_python Python interface for unitree_sdk2. |
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| unitree_legged_sdk An SDK package used to develop Aliengo, A1, Go1 and B1 robots in real environments. |
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| URDF | URDF for robots: H2, A2, R1, G1, B2, H1, Go2, B1, Go1, A1, AlienGo, Laikago, etc. |
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| USD | USD for robots: G1, B2, H1, Go2, etc. |  |
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| ROS1/ROS2 | unitree_ros ROS1 simulation package. It has urdf files of all Unitree series robots. |
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| unitree_ros2 Develop Go2 and B2 robots in the ROS2 environment. The interface types provided are consistent with unitree_sdk2. |
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| unitree_guide | An instance control algorithm by book "Quadruped Robot Control Algorithm--Modeling, Control and Practice" published by Unitree. It demonstrates the robot joint motor control method, simple foot movements, and force control algorithm. Both simulation and real robot development environments supports. |
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| point_lio_unilidar | This repository adapts the state-of-the-art lidar inertial odometry algorithm, Point-LIO, for use Unitree 4D Lidar L1. It can complete SLAM using only its piontcloud and built-in IMU. |
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