Introduction
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Teleopit is a lightweight, extensible whole-body teleoperation framework for humanoid robots. It provides real-time motion retargeting from human operators to Unitree G1 robots, supporting both MuJoCo simulation and real hardware deployment.
Key Features
- Offline sim2sim: Play back BVH motion capture files through RL policy in MuJoCo
- VR teleoperation: Real-time whole-body control via Pico 4 / Pico 4 Ultra full body tracking
- Sim2real deployment: Deploy to Unitree G1 hardware with the same pipeline
- Onboard control: Run the control loop directly on G1's onboard NX computer
- Training pipeline: End-to-end RL training with General-Tracking-G1 task
- Extensible design: Protocol-based components (InputProvider, Retargeter, Controller, Robot)
Pipeline Overview
InputProvider (BVH / Pico4 VR)
-> Retargeter (GMR)
-> ObservationBuilder (166D)
-> Controller (dual-input TemporalCNN ONNX)
-> Robot (MuJoCo sim or Unitree G1)
Technical Specs
| Spec | Value |
|---|---|
| Policy frequency | 50 Hz |
| PD control frequency | 1000 Hz |
| Observation dimension | 166D |
| Action dimension | 29D (G1 joints) |
| ONNX model | Dual-input TemporalCNN |
| Retargeting | GMR (General Motion Retargeting) |
| Simulator | MuJoCo |
| Hardware | Unitree G1 (29 DOF) |
What's Next
- Installation - Set up your environment
- Quick Start - Run your first sim2sim
- Tutorials - Step-by-step guides for each use case