What is real? Real: the Unitree-exact H2 body, the MuJoCo physics every frame was simulated with, both checkpoints from the earlier training pipeline, and the pro rally reference (Medvedev) they were built to track. The video is an offline render of real simulation rollouts, policy on the left, reference on the right.
Not yet: this policy does not see the ball. This policy does not take ball state as input. The archived checkpoint fails about 0.18s into the hardest window, and the montage shows that instead of hiding it. Humanoid development was paused on September 28, 2026. The new arm-on-wheels design is under measurement review.
POLICY (LEFT) vs REFERENCE (RIGHT) v28 control (thrash) first, then v36 tracking attempts - one continuous rally window, real MuJoCo physics, nothing hand-animated. Early checkpoints, shown as they are.
THE H2 EXPERIMENT IS PAUSED. THE MEASURED DESIGN WORK CONTINUES.
The clip above is where the H2 policy was when paused: untrained-stage. v28 thrashes, v36 began tracking the reference. It still dies about 0.18 seconds into the hardest part of the rally window.
This is archived H2 training footage, not a demo of a working tennis robot. The new arm-on-wheels proposal and its source-backed measurement ledger are on the alternative design page. No stroke capability is established yet.
ATH - Association of Tennis Humanoids Historical H2 research: Unitree H2 body and MuJoCo simulation. Humanoid development is paused; the alternative is a proposed system, not a tested robot.