Series

Groot N1 G1 Series

The "Groot N1 G1 Series" series has 5 parts — read them in order from part 1.

humanoidvlawhole-bodyPart 1

GR00T N1 + Unitree G1: decoupled WBC+VLA architecture from 6Hz to 500Hz

How GR00T N1 (VLA at 6Hz) combines with GR00T-WBC (200Hz) to control Unitree G1 — decoupled architecture, why end-to-end doesn't work, and how to adapt for other robots.

6/2/20266 min read

Tutorial

GR00T N1 + G1 (Post 2): data collection in Isaac Lab and xr_teleoperate → LeRobot

humanoidvladata-collectionPart 2

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GR00T N1 + G1 (Post 2): data collection in Isaac Lab and xr_teleoperate → LeRobot

How to collect training data for GR00T N1 via two tracks: Isaac Lab simulation teleop (no robot needed) and real xr_teleoperate on G1 — both producing LeRobot format ready for fine-tuning.

6/3/20265 min read

Tutorial

GR00T N1 + G1 (Post 3): fine-tuning GR00T N1 — GPU, config, training script

humanoidvlatrainingPart 3

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GR00T N1 + G1 (Post 3): fine-tuning GR00T N1 — GPU, config, training script

Step-by-step guide to fine-tune GR00T N1 (2B params) with a LeRobot dataset from G1 — GPU requirements, training config, how to avoid overfitting, and evaluating checkpoints before deployment.

6/4/20265 min read

Tutorial

GR00T N1 + G1 (Post 4): deploying GR00T-WBC on Unitree G1 — GEAR + SONIC

humanoidvlawhole-bodyPart 4

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GR00T N1 + G1 (Post 4): deploying GR00T-WBC on Unitree G1 — GEAR + SONIC

How to deploy the GR00T-WBC stack (GEAR upper body at 50Hz + SONIC locomotion at 200Hz) on Unitree G1 with a fine-tuned GR00T N1 checkpoint — joint mapping, PD tuning, safety checklist, and adapting for other robots.

6/5/20266 min read

Tutorial

humanoidvlasim2realPart 5

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GR00T N1 + G1 (Post 5): sim2real transfer, domain randomization, and eval with humanoid-bench

Closing the loop: domain randomization in Isaac Lab, actuator modeling to narrow the sim2real gap, deploy to real G1, and benchmark performance with humanoid-bench — plus a debug guide for common failure modes.

6/6/20266 min read