Unitree R1 Secondary development/reinforcement learning/custom behavior implementation supportFrom building a secondary development environment for the lightweight and compact humanoid "Unitree R1" to implementing MuJoCo/mjlab reinforcement learning and robot operation.
This is a secondary development and custom motion implementation service that brings out the potential of the small humanoid "Unitree R1", which is approximately 123 cm tall, weighs approximately 29 kg, and has 26 degrees of freedom throughout its body. EmplifAI uses our own fork "unitree_rl_mjlab" and has a track record of motion generation from live-action videos, PPO reinforcement learning, ONNX output, Sim2Sim physics verification, and implementation of over 20 types of continuous gestures, movements while walking, and return to standing on the actual R1 machine. We provide consistent support from setting up the initial development environment along with purchasing and renting R1 to developing exclusive policies for events, customer service, and research and development.
Unitree R1 Consult about secondary development, reinforcement learning, and custom behavior implementation support
Consultation content and deliverables
- Target robot
- Unitree R1 (Secondary development is based on a development compatible model such as EDU. robot sales and rental are also supported)
- Main specifications
- Approximately 123cm tall, approximately 29kg in weight, 26 degrees of freedom throughout the body (lightweight and easy to maneuver and transport)
- Scope of development support
- SDK/communication initial settings, MuJoCo/mjlab reinforcement learning environment construction, custom behavior policy learning, Sim2Sim/robot deployment
- Implementation example
- Switching between multiple gestures, upper body signals and hand gestures while walking, returning to a stable standing position, dance/PR movements
- Deliverables
- Trained ONNX model/checkpoint, execution script/configuration file, Sim2Sim evaluation report, operating procedure manual
- price
- Individual estimates depending on the configuration of the target robot, the number of operations to be created/difficulty, and whether robot verification is required.
How we work
We will ask you about the current situation, target robot, site conditions, and desired timing, and then we will begin work after agreeing on the scope of implementation and preconditions. Deliverables and prices will be specified in the individual quotation.
Three ways to support the use of “Unitree R1”, which is lighter and more compact than G1, in research and event demonstrations
01 Developing safe demonstration motions that take advantage of the 29kg lightweight body
Compared to the G1, which weighs approximately 35 kg, the R1 is smaller and lighter (approx. 29 kg, height 123 cm), making it easy to maneuver in commercial facilities, exhibition booths, and university laboratories. We will build a control package that stably plays eye-catching hand gestures, greetings, dances, and pose switching at the venue.
02 PPO reinforcement learning and Sim2Sim physics verification using unitree_rl_mjlab
Generate a 26-degree-of-freedom trajectory for R1 from live-action videos and keyframes, and learn the whole-body control policy with PPO. We quantitatively test the completion rate, tracking error, overturning, and torque saturation using simulation before deploying to the robot.
03 Integrated implementation of mid-movement switching, gestures while walking, and return to standing position
In addition to reproducing a single movement, we will build an actual operational system that includes smooth switching between multiple learned policies, upper body actions while stepping or walking, and recovery procedures in the event of a bad posture.
NVIDIA GEAR Sonic × Unitree G1: Real robot demonstration
We ran NVIDIA GEAR Sonic on a Unitree G1 robot and verified its operation. Watch the video to see the demonstration.
Gemini 4 Argon × Unitree G1: Turning Vision into Action
Unitree G1 just picked up a plastic bottle using Gemini 4 Argon. No hard-coded motions. Just AI turning vision into action. The future of robotics is getting real.
Even when the bottle is moved and placed again, the AI visually understands the scene and generates the grasping motion. We provide Physical AI and VLA implementation on the Unitree G1 as well as custom PoC and verification development tailored to your operations.
Regarding robot rental and development use at Yushima Lab (shipping discount)
During the period when the target robot's schedule is open, we not only accept delivery rentals to external venues, but also on-site robot rental, operation development, and robot verification at the EmplifAI Yushima office (1st floor laboratory) in Bunkyo-ku, Tokyo.
If you use it at the Yushima Lab site, there is no need to pack and transport the robot round-trip, so we can offer you a discount on shipping costs (no transportation costs and local usage discount) compared to regular delivery rentals. It can also be used for spot development by the hour or day, or for robot testing in an environment equipped with a soldering iron and hex wrench set.
Regarding price fluctuations and early consultation discounts depending on the consultation period
If you make a request just before the rental start date, the fee will be higher than usual as it will require urgent arrangement, advance inspection, transportation and staff priority coordination of robot.
On the other hand, if you contact us as soon as you know your schedule and plans, we will consider discounts because we can make planned arrangements. Even if the details of robot and the performance are not yet finalized, please contact us as soon as possible.
Rental, Long-Term Use and Leasing Enquiries
Alongside short-term rental, contact us about long-term use or leasing. We review your preferred model, quantity, duration and use case, then advise on availability and contract terms.
Rental and leasing differ in contract duration, maintenance and early termination conditions. Leasing is not guaranteed for every device; availability depends on the equipment and agreed terms.
Frequently asked questions
Unitree R1 What can I request for secondary development/reinforcement learning/custom behavior implementation support?
This is a secondary development and custom motion implementation service that brings out the potential of the small humanoid "Unitree R1", which is approximately 123 cm tall, weighs approximately 29 kg, and has 26 degrees of freedom throughout its body. EmplifAI uses our own fork "unitree_rl_mjlab" and has a track record of motion generation from live-action videos, PPO reinforcement learning, ONNX output, Sim2Sim physics verification, and implementation of over 20 types of continuous gestures, movements while walking, and return to standing on the actual R1 machine. We provide consistent support from setting up the initial development environment along with purchasing and renting R1 to developing exclusive policies for events, customer service, and research and development. The specific scope of work will be confirmed and agreed upon before starting work, including robot, site, and desired deliverables.
Unitree R1 How are the costs and scope of delivery for secondary development, reinforcement learning, and custom behavior implementation support determined?
We will confirm the target robot, number of machines, implementation location, and required deliverables, and provide an individual estimate of availability, scope of work, completion conditions, and cost.
I am unsure whether to develop based on Unitree R1 or Unitree G1. Is it possible to have a comparative consultation?
yes. EmplifAI has a track record of robot operation and reinforcement learning/motion development for both G1 and R1. We will suggest the most suitable robot depending on your budget, ease of delivery/transportation, and whether or not you need to use your hands to grasp the product (G1 if you need a 5-finger hand, etc., R1 if you need a lightweight full-body gesture, exhibition/movement, etc.).
Unitree R1 Consultation on secondary development, reinforcement learning, and custom behavior implementation support
Please let us know the target robot, location, issue you would like to solve, and desired timing. We will inform you about the implementation details and estimate.
Unitree R1 Consult about secondary development, reinforcement learning, and custom behavior implementation support