LATENT / MUJOCO
BOOTING REAL SIM
PHYSICSMuJoCo WASM loading
MODELSONIC motion-tracking on the Unitree-exact H2 body · trained ball policy (old body) secondary
GEOMETRYLoading official H2 meshes
CONTROLLIVE: SONIC TRACKING CHECKPOINT · SKILL: RODDICK SERVE (REFERENCE TRACKING) · BALL-CONTACT v8 SECONDARY (F64: 0% CONTACT / 67% FALLS)
Broadcast to humanoid · GVHMR motion capture retargeted onto the Unitree H2 - match footage, mocap and H2 reference in sync
What is real?
Real: official MuJoCo engine stepping the Unitree-exact H2 body at 200Hz, driven live by the SONIC motion-tracking checkpoint (1.97M steps) running in-browser on its training observation contract (1670-dim). SONIC tracks a reference clip; the current skill is a Roddick serve, tracked in a loop. More clips land as they are retargeted and validated. The display skin is cosmetic STL mapped onto the real physics bodies.

Honest limits: early skills for now - the robot tracks a Roddick serve reference in a loop; more clips land as they are retargeted and validated. First visit downloads a 59MB policy, so the mode can take a few minutes to appear. The trained ball-contact policy (obs-137 v8) still runs unchanged on the old training body as a secondary mode via the SONIC toggle: f64-validated but weak - 0% racket-ball contact, 67% falls, closest approach 3.29 m mean. v5 ball training continues with slip/drift/twitch penalties and a hard stage-1 gate.
REAL MODEL. REAL PHYSICS.

REAL MODEL.
REAL PHYSICS.

The live robot above is the SONIC motion-tracking checkpoint (1.97M steps) on the new Unitree-exact H2 body - real MuJoCo physics, real tracking policy, running entirely in your browser. Today it tracks its first stroke: a Roddick serve reference, looping. More clips follow as they are retargeted and validated. The obs-137 ball-contact policy (v8) is still here as a secondary mode - toggle SONIC off to watch it chase balls on the old training body (honestly: 0% contact, 67% falls in f64 validation, closest approach 3.29 m mean). Drag to orbit.

ATH - Association of Tennis Humanoids
Building toward physics-first humanoid tennis: pro footwork, spin-aware ball flight, drills, serves, and match play.

Source
COMPILING UNITREE H2Loading SONIC tracking model…
best: …
LIVE TRAINING FEED
waiting for first publish…
LOSS CURVE
waiting for first loss curve publish…
Values exactly as last published by the training run; nothing simulated.