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: STAND (FEDERER FOREHAND COMING) · BALL-CONTACT v8 SECONDARY (F64: 0% CONTACT / 67% FALLS)

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 STAND, with the Federer forehand clip next. The display skin is cosmetic STL mapped onto the real physics bodies.

Honest limits: basic skills only for now - the robot stands; walk/run/forehand 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 shows its first basic skill: STAND. The Federer forehand clip is being retargeted now, and walk/run skills follow. 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.

REAL MODEL.REAL PHYSICS.

REAL MODEL.
REAL PHYSICS.