COMMUNITY · ALL
Every question and discussion, newest activity first.
New to humanoids and deciding where to start? Tell us what you are trying to learn (locomotion, manipulation, robot learning, ROS 2), your budget range and whether you need the real robot or can start in simulation, and…
Getting started#beginner#buying#ros-2WBH Editorial ·
Which simulator do you use for humanoids, for what (RL training, controller testing, sim-to-sim validation, synthetic data), and what made you choose it? Share the friction too: installation, URDF/MJCF/USD import, GPU…
Development & software#gazebo#isaac-sim#mujocoWBH Editorial ·
A policy that walks in simulation and stumbles on hardware is a rite of passage. What was the cause in your case (actuator model, latency, observation noise, domain randomisation, control frequency, sim-to-sim checks…
Development & softwareUnitree G1#locomotion#reinforcement-learning#sim-to-realWBH Editorial ·
Connecting to a humanoid's ROS 2 / DDS interface for the first time? Share the step that cost you the most time (distribution choice, network and DDS discovery, message types, simulation first or hardware first) and how…
Getting started#beginner#ros-2WBH Editorial ·
If you train or deploy on the G1, which variant do you use, and what had to change between the 23-DoF and 29-DoF configurations (action space, observations, URDF/MJCF, deployment)? Unitree's unitree_ros repository now…
Development & softwareUnitree G1#reinforcement-learning#whole-body-controlWBH Editorial ·
Once walking works, what next: getting up, carrying, whole-body manipulation, motion imitation? Share the approach (reward design, motion retargeting, imitation, teacher-student) and the open-source code you built on.…
Development & software#imitation-learning#reinforcement-learning#whole-body-controlWBH Editorial ·
A classic question with a moving answer. How would you explain the role of ZMP-based control today, where model-based balance (capture point, MPC, whole-body control) is still preferred, and where learned policies have…
Development & software#balance#locomotion#whole-body-controlWBH Editorial ·
How do you collect demonstrations for your robot: VR headset, exoskeleton, leader-follower arms, motion capture? What did setup and calibration involve, and how many episodes did a usable policy take? On…
Development & softwareVega#imitation-learning#teleoperationWBH Editorial ·
Where do you run policies, perception and teleoperation: on the robot's module or on an external PC? What limited you: latency, power, thermals, software support? Please mention your robot and module. On…
Hardware & ownershipGalbot G1Vega#compute#teleoperationWBH Editorial ·
Several humanoids listed as shipping on WBH put a humanoid upper body on a wheeled base: the AGIBOT A2-W, AGIBOT Genie G2, Galbot G1 and Dexmate Vega. If you have worked with one, where did wheels win (payload, runtime,…
Hardware & ownershipAGIBOT A2-WGalbot G1Vega#buying#locomotionWBH Editorial ·
Simple grippers, 6-DoF hands or highly actuated hands: what did your tasks need, and what did the extra degrees of freedom cost you in reliability, control complexity and price? On WeBuildHumanoids: Vega · Galbot ET1 ·…
Hardware & ownershipGalbot ET1Galbot G1Vega#dexterous-hands#manipulationWBH Editorial ·
For those who have built or modified a biped: how did you estimate the torque each joint needs (static poses, dynamic gaits, safety margins), and how close did reality come? Worked numbers are welcome. Two reference…
Hardware & ownershipUnitree G1Unitree H2#actuators#diy#locomotionWBH Editorial ·
What does your safety protocol look like: exclusion zones, emergency stops, tethers or gantries for walking tests, supervision rules, network isolation and update practice? What changed after a near miss? Unitree's own…
Hardware & ownershipUnitree G1Unitree H2#safetyWBH Editorial ·
List prices rarely include everything. If you bought a humanoid, what else did you need (end effectors, compute modules, batteries and chargers, tethers or gantries, shipping and import, warranty, software) and what…
Hardware & ownershipUnitree G1Vega#buying#ownershipWBH Editorial ·
Who has run a vision-language-action (VLA) or robot foundation model on a real humanoid, on which tasks, with how much fine-tuning data, and where did it break? On WeBuildHumanoids: Unitree open-sources UnifoLM-WLA and…
Research & papers#foundation-models#imitation-learning#vlaWBH Editorial ·
When you tried to reproduce a policy result, what was missing: seeds, data splits, evaluation protocol, hardware details, compute? What minimum would you ask every paper or model card to report? On WeBuildHumanoids:…
Research & papers#benchmarks#reproducibilityWBH Editorial ·
Deployment announcements are frequent; independent evidence is rarer. Which deployments do you consider well documented, and what evidence convinces you (customer statements, footage, production numbers, third-party…
Industry & news#deployments#industryWBH Editorial ·
NVIDIA has released Isaac Lab 3.0 as Early Access, with one task API across multiple physics, rendering and visualisation backends. Have you tried it? What changed for your humanoid tasks, and what broke in migration?…
Industry & news#isaac-sim#simulationWBH Editorial ·
Building a humanoid, a subsystem (hand, leg, actuator, controller) or software for one? Start a thread in this category with what you built, what worked, what did not and what you would like feedback on. Commercial…
Projects & builds#diy#open-source#show-and-tellWBH Editorial ·
Welcome to the WeBuildHumanoids community: a place for people who build, program and evaluate humanoid robots to ask, answer and show their work. WBH's data is source-linked. Every robot specification on WBH links to…
WBH feedback#feedbackWBH Editorial ·