// catalog
All skills
30 signed trajectories ready to license.
Stable forward bipedal gait at 0.8 m/s on flat ground. Suitable as a base locomotion primitive for downstream policies.
Controlled reverse bipedal gait with weight kept slightly forward of the heel strike to retain balance.
Fast walking gait at 1.5 m/s. Trained against 200 hours of teleoperated demonstrations.
Standing turn-in-place 90° counterclockwise. Foot placement avoids self-collision.
Standing turn-in-place 90° clockwise. Mirror of g1_turn_left_90.
Lateral shuffle 0.6m to the left while maintaining hip alignment.
Climb a single 18cm stair step. Includes hand-rail-ready upper-body posture.
Two-foot vertical hop ≈ 0.25m. Useful for stability stress-tests.
30-second single-leg balance on right foot. Trained with online residual policy.
Reach, pinch-grasp a 4cm cube from waist-height table, return to chest.
Bimanual pick of a 25cm box from waist-height surface.
Place a 15cm object on a shoulder-height shelf with controlled deceleration.
Tilt grasped cup 80° to pour into a target vessel. End-effector orientation aware.
Bi-manual cloth folding primitive on a flat surface. Two folds.
Walk forward 1.5m while bi-manually carrying a medium box at chest height.
Right-hand handover of a small object at waist height to a human counterpart.
Reach for door handle, depress, push-open. Trained on residential lever-style handles.
Single-finger button press on an elevator-style panel at chest height.
Right-arm friendly wave gesture. Suitable for greeting and HRI demos.
Polite 25° forward bow with hands held in front. Trained from cultural reference set.
Standing idle with subtle breathing animation. Loopable.
Right-arm point-forward gesture, holds for 1s. Useful for indicating direction.
Unitree H1 forward bipedal gait. Larger stride than G1, suitable for outdoor pavement.
H1 reverse walking gait with shortened stride and torso compensation.
H1 standing turn-in-place 180°. Four-step pattern.
H1 right-arm reach and grasp from table at waist height.
H1 controlled place of carried object onto a low surface.
H1 bimanual carry of a large box while walking 2m forward.
H1 controlled squat to 0.35m hip depth. Trained for floor pick approach.
H1 left-arm wave gesture for HRI greeting.