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sew-angle

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ybkimws-source / posefork

One reach target, many postures. Behavioral diversity for a redundant 7-DOF arm (Unitree G1), from massively parallel RL — no human demos.

reinforcement-learning robotics inverse-kinematics manipulation imitation-learning humanoid-robot robot-learning ppo isaac-sim redundancy-resolution isaac-lab unitree-g1 sew-angle behavioral-diversity

Updated Jun 5, 2026
Python

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