full-size humanoid · preview, sim only
Train Unitree G1 with reinforcement learning
Unitree's 29-joint humanoid from MuJoCo Menagerie. A preview robot on kualia: plan tasks and run short capped tries; a real gait needs GPU-scale training.
- Actuators
- 29
- First skill
- ~10M steps
- Size
- ≈1.3 m
- License
- BSD-3-Clause
Tricks people teach Unitree G1
How it works
- Describe the trick in a sentence and pick Unitree G1.
- alia, kualia's assistant, writes the Gymnasium task — reward, success, failure and world objects — and runs 13 automatic checks.
- Train with PPO on kualia's servers and watch every checkpoint replayed in 3D in your browser.
- Export a deterministic ONNX policy and run it on the robot with onnxruntime.
From your coding agent
Working in Claude Code, Cursor or Codex? Connect kualia as an MCP server with a personal API key (Settings → API keys), then ask: “Train my Unitree G1 to stand and balance with kualia.”
claude mcp add --transport http kualia https://kualia.ai/api/mcp \ --header "Authorization: Bearer $KUALIA_API_KEY"Coding-agent guide →
Questions
Can I train Unitree G1 without writing code?
Yes. Pick Unitree G1 in kualia, describe the trick in a sentence, and kualia's assistant writes the Gymnasium task (reward, success, failure and any world objects), runs 13 automatic checks and trains a PPO policy in MuJoCo.
How many training steps does Unitree G1 need?
Roughly ~10M steps for a first real skill with PPO. Start with a 10,000-step first try to check the task before spending more. Unitree G1 is a preview robot on kualia: runs are capped at 30,000 steps until GPU training is available.
Can I run the trained policy on the real Unitree G1?
kualia exports a deterministic ONNX policy with observation normalisation baked in, plus metadata describing observations and action scaling. You run it with onnxruntime on the robot's computer. Test carefully: simulation and hardware differ.
Can my coding agent use kualia for Unitree G1?
Yes. kualia is a remote MCP server at https://kualia.ai/api/mcp. Add it to Claude Code, Cursor or Codex with a personal API key and ask the agent to train Unitree G1.
More bigger real robots
Unitree G1 model by Unitree, BSD-3-Clause; used unchanged except for a floor, a standing pose and actuator centring where noted. kualia is not affiliated with Unitree.