Humanoid Wbvla 2026 Lab

Set up OpenWBT for Unitree G1, verify the ONNX policies, run MuJoCo teleop, then move carefully to real hardware.

Run TWIST2 from ONNX checkpoint to real G1: Redis bus, PICO teleop, sim2sim, sim2real, GUI and data recording.

Build the EgoHumanoid path from human/robot data to view alignment, action alignment, LeRobot, training and G1 deployment.

Build VIRAL with Isaac Sim 5.1: PPO teacher, RGB DAgger student, Hydra fields, ONNX export, and EgoHumanoid comparison.

Run FRoM-W1 from text prompts to H-GPT motion, H-ACT retargeting, and G1 tracking policy, then compare it with VIRAL.

Deploy CLONE on G1 with Apple Vision Pro, LiDAR odometry, an MoE policy, and a practical stack-selection table.