PHYSICSMuJoCo WASM loading

MODELSONIC motion-tracking on the Unitree-exact H2 body

GEOMETRYLoading official H2 meshes

CONTROLLIVE: SONIC TRACKING CHECKPOINT · SKILL: RODDICK SERVE (REFERENCE TRACKING)

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. 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. 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.

REAL MODEL.REAL PHYSICS.

REAL MODEL.
REAL PHYSICS.