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youyuan.chen
2026-07-26 19:11:42 +08:00
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@@ -39,8 +39,11 @@ Demo of the evaluation process (4 terrains, 2 difficulty levels):
| Robot | Type | Velocity Tracking |
| - | - | - |
| [Unitree go1](./assets/docs/go1_policy_io_zh.md) | Quadruped | ✅ |
| Unitree go2 | Quadruped | ✅ |
> Go1 Isaac Gym and RobotLab exports use different ONNX contracts: Gym uses a 5-frame, 225-value history, while RobotLab uses a 10-frame, 450-value history. Both TorchScript exports consume the current 45-value frame and maintain history internally. See the linked Go1 policy I/O guide for the exact layout.
## Installation
Recommended environment: `python=3.8`. Install any PyTorch version >= 2.0 following the [official PyTorch guide](https://pytorch.org/get-started/locally/), then install this repo: