cagataydev/g1-rl-locomotion

G1 RL Locomotion Dataset Unitree G1 humanoid locomotion RL training data collected on NVIDIA Jetson AGX Thor. Robot: Unitree G1 (29-DOF actuated, 71-dim state) Backends: MuJoCo (primary), Newton GPU (experimental) Total transitions: ~270,000 (combined master) State dim: 71 (qpos:36 + qvel:35) Action dim: 29 (all actuated joints) Format: NPZ (SB3 replay buffer compatible) Collection period: March 2026

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