Unitree_Low-Level_Balance
by DeRuiChen258
Combines Unitree G1 balance control, skill scheduling, and structured LayA decisions in MuJoCo
Unitree G1 小脑平衡 + 多动作自适应组合系统（MuJoCo）：教师策略复用 + PPO 残差、技能原语组合、LayA 决策、安全门禁；含自主弯腰拾取（双手抱两侧、半体重重物、绕柱避障、零穿模）与一键可视化/录像。
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