CanIEmbody
Matrix/Unitree G1/π0-FAST

Does π0-FAST run on Unitree G1?

partial
T3 · community reportedlast verified 2026-10-25 · todayLeRobot

Scope: Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source.

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Capabilities

CapabilityStateNotesEvidence
Train / fine-tuneworksev-hub-eunjuri-pi0fast-g1
Real-robot inferenceno verified evidence—
Simulation inferenceno verified evidence—
Teleop + recordno verified evidence—

Evidence 1 source; the cell shows the highest tier

  1. T3 · community reportedhub-checkpointsource 2026-02-23verified 2026-10-25 (today)

    config.json type=pi0_fast (init lerobot/pi0fast-libero); train_config.json dataset eunjuri/pick_and_place_for_train_no_tac (10000 steps), whose meta/info.json robot_type=Unitree_G1_Inspire (1035 episodes, G1 arm + Inspire hand joints). Dataset card does not say whether it is real or simulated; auto-generated model card.

    https://huggingface.co/eunjuri/pi0-fast_policy_pick_and_place_for_train_no_tac

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π0-FAST on Unitree G1: partial

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No committed history yet. Source file: data/compat/unitree-g1__pi0-fast.yaml