Issues

• unitree_rl_lab velocity policy scored 0/0 % in an external G1 benchmark - probably my Isaac-to-MuJoCo mapping

  unitreerobotics/unitree_rl_lab#145 · Filter by author rhoyn opened on Sep 7, 2026

• Request for RL Policy for Unitree A2

  unitreerobotics/unitree_rl_lab#143 · Filter by author aajin126 opened on Aug 26, 2026

• g1_ctrl 运行仿真松开绳子机器人跌倒

  unitreerobotics/unitree_rl_lab#142 · Filter by author J7698 opened on Aug 8, 2026

• 启动了G1 mujoco仿真和G1ctrol以后无法用手柄控制机器人

  unitreerobotics/unitree_rl_lab#141 · Filter by author J7698 opened on Aug 2, 2026

• How to train multiple NPZ motion files?

  unitreerobotics/unitree_rl_lab#139 · Filter by author huangshaoguang opened on Jul 13, 2026

• How to train multiple motion files?

  unitreerobotics/unitree_rl_lab#138 · Filter by author huangshaoguang opened on Jul 13, 2026

• Error: Joystick open failed.

  unitreerobotics/unitree_rl_lab#136 · Filter by author zhijun-yin opened on Jul 1, 2026
  2

• KeyError: 'model_state_dict'

  unitreerobotics/unitree_rl_lab#134 · Filter by author zhijun-yin opened on Jun 30, 2026
  1

• Can the trained network be deployed on the Go2-X? I don’t have a Go2 EDU.

  unitreerobotics/unitree_rl_lab#133 · Filter by author Pzy621 opened on Jun 15, 2026

• 训练后的策略，无法响应左右转，有遇到的同学么

  unitreerobotics/unitree_rl_lab#131 · Filter by author WangN2 opened on May 24, 2026
  5

• ValueError: Observations for they key 'rnd_state' not found in infos['observations'].

  unitreerobotics/unitree_rl_lab#129 · Filter by author Aczheng-cai opened on May 12, 2026

• ./g1_ctrl 段错误

  unitreerobotics/unitree_rl_lab#128 · Filter by author runonroad opened on May 12, 2026

• 执行./unitree_rl_lab.sh -t --task Unitree-G1-29dof-Velocity，报下面的错误

  unitreerobotics/unitree_rl_lab#126 · Filter by author zialululu-del opened on Apr 20, 2026
  6

• Go2 Wheeled Robot Not Moving After Training (Using UNITREE_GO2W_CFG)

  unitreerobotics/unitree_rl_lab#122 · Filter by author cyborgsince90s opened on Apr 16, 2026
  1

• AttributeError: 'PPO' object has no attribute 'actor_critic'

  unitreerobotics/unitree_rl_lab#120 · Filter by author JES0406 opened on Apr 8, 2026
  1

• Misleading Terrain Configuration: COBBLESTONE_ROAD_CFG only generates flat terrain

  unitreerobotics/unitree_rl_lab#117 · Filter by author yukunlin1124 opened on Mar 18, 2026

• Training fails when replacing the hand with Inspire Hand in Unitree-G1-29dof-Velocity

  unitreerobotics/unitree_rl_lab#116 · Filter by author cyun9601 opened on Mar 13, 2026

• Training in Mujoco

  unitreerobotics/unitree_rl_lab#113 · Filter by author W-OK-E opened on Feb 5, 2026
  3

• 训练Unitree-G1-29dof-Velocity，左臂一直向后伸

  unitreerobotics/unitree_rl_lab#112 · Filter by author RobotGMY opened on Jan 28, 2026
  1

• How to override arm joints while maintaining balance with a whole-body policy?

  unitreerobotics/unitree_rl_lab#111 · Filter by author TranThang27 opened on Jan 26, 2026

• mujoco sim2sim的过程中，正常运行一段时间后go2_ctrl程序崩溃 内存、堆栈相关

  unitreerobotics/unitree_rl_lab#110 · Filter by author 1710336500-spec opened on Jan 26, 2026

• Update on A2 and R1

  unitreerobotics/unitree_rl_lab#109 · Filter by author Wang-Haitong opened on Jan 20, 2026

• go2 sim2sim run error

  unitreerobotics/unitree_rl_lab#108 · Filter by author shiftonetothree opened on Jan 16, 2026
  2

• 梯度突然在1000步爆炸 Mean value_function loss: inf

  unitreerobotics/unitree_rl_lab#107 · Filter by author xiaoc10020015 opened on Jan 15, 2026
  9

• error: libstdc++.so.6 CXXABI_1.3.15 not found when running unitree inference example

  unitreerobotics/unitree_rl_lab#106 · Filter by author cyun9601 opened on Jan 13, 2026
  1