Humanoid-GPT
Research whole-body motion tracker evaluated on a 29-DoF Unitree G1.
Identity and state
- Apache-2.0 code repository Public openness · reviewed 2026-08-27
Reviewed relationships
| State | Related entity | Relation | Scope | Boundary |
|---|---|---|---|---|
| Verified | → Unitree G1 | evaluated on | 29-DoF whole-body deployment | The open implementation targets Unitree G1, not Galbot G1 or ET1. |
| Boundary | → Galbot ET1 | not proven on | public evidence boundary | The nearest open research implementation targets Unitree G1; it does not prove an exact ET1 checkpoint. |
| Verified | → MuJoCo | uses simulator | repository simulator path | The README names MuJoCo-MJX. |
Canonical evidence claims
Claims are projected from authored tables. A dash remains an explicit missing value; it is never filled from a neighboring product or name match.
| Metric | Value | Class |
|---|---|---|
| Control / tracking note | real-robot deploy docs under deploy/ for Unitree G1 [software-m9] | unitree-g1-research-code |
| License | Apache-2.0 [software-m9] | unitree-g1-research-code |
| Paper | arXiv:2606.03985 [software-r1] | unitree-g1-research-code |
| Simulator in README | MuJoCo-MJX [software-m9] | unitree-g1-research-code |
| Stated target | Unitree G1, 29 DoF whole-body [software-m9] | unitree-g1-research-code |
| Humanoid-GPT | arXiv:2606.03985 [research-systems-r7] | paper-body-unitree-g1 |
| Humanoid-GPT | paper eval — nearest open paper to AstraBrain-WBC 0.5, not a proven one-to-one product checkpoint [research-systems-p4] | paper-body-unitree-g1 |
| Humanoid-GPT | — | paper-body-unitree-g1 |
| Humanoid-GPT | 29-DoF Unitree G1 [research-systems-r7] | paper-body-unitree-g1 |
| Humanoid-GPT | GalaxyGeneralRobotics code [research-systems-r7] | paper-body-unitree-g1 |
Source ledger
- Press Beijing Science and Technology Commission / Beijing Economy and IT — AstraBrain-WBC 0.5 release report. Type: press / government report. Date: 2026-06-24. Retrieved: 2026-08-27. reviewed 2026-08-27
- Research Humanoid-GPT — “Humanoid Generative Pre-Training for Zero-Shot Motion Tracking”. Type: research paper. ID: arXiv:2606.03985. Retrieved: 2026-08-26. reviewed 2026-08-26
- Manual GalaxyGeneralRobotics — Humanoid-GPT README. Type: official research-code repository. License: Apache-2.0. Retrieved: 2026-08-27. reviewed 2026-08-27
- Research Qi et al. — Humanoid-GPT: Humanoid Generative Pre-Training for Zero-Shot Motion Tracking. Type: research. Venue: CVPR 2026. Retrieved: 2026-08-27. reviewed 2026-08-27
What is not inferred
No fuzzy entity matching, adjacent-column borrowing, universal compatibility, commercial maturity, or checkpoint-to-product identity. Absence of a relation means unreviewed or unsupported here—not proven incompatibility.