论文记录 · 证据边界公开

Learning Humanoid Standing-up Control across Diverse Postures

arXiv · 2025-02（月精度） · 人形全身运动跟踪

论文元数据

官方代码 · 许可证 MIT · 最近核验 2026-07-19
依赖：Python 3.8、PyTorch 1.10、CUDA 11.3、Isaac Gym Preview 4、RSL-RL、Unitree SDK2 Python；硬件/传感器：Unitree G1 or H1-family adaptation、NVIDIA GPU for training；实机证据：Official G1 standing-up results; no official checkpoint or independent hardware reproduction.；开放范围/限制：No official pretrained checkpoint is released. The dependency stack is pinned to aging Isaac Gym Preview 4, Python 3.8 and CUDA 11.3-era packages. The linked community repository is non-official and WIP, and must not be counted as a successful reproduction. Hardware deployment guidance is practical but not a complete safety-certified recovery system.

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最近核验：2026-07-19。链接存在不等于官方仓库、可运行、已开放权重/数据或许可证允许使用。