# X-G1

- **Event:** [Nebius.Build SF](https://cerebralvalley.ai/e/nebius-build-sf)
- **When:** Sun, Mar 15 at 9:00 AM – 10:00 PM (PDT)
- **Where:** Shack15, San Francisco, CA
- **Team:** [Venkat Ram](https://cerebralvalley.ai/u/venkatram), [Kaushik Sivakumar](https://cerebralvalley.ai/u/kaushik07), [Yifeng Wu](https://cerebralvalley.ai/u/you), [Siyu Liu](https://cerebralvalley.ai/u/siyulw2)
- **GitHub:** https://github.com/AIBotTeachesAI/quest3-g1-teleop
- **Demo video:** https://www.youtube.com/watch?v=ozgiLfty868
- **Gallery:** https://cerebralvalley.ai/e/nebius-build-sf/hackathon/gallery
- **Page:** https://cerebralvalley.ai/e/nebius-build-sf/hackathon/gallery/6

In this 2-day hackathon, we built a rapid-iteration pipeline for the Unitree G1 humanoid, moving from manual demonstration to autonomous policy testing.
Technical Implementation:
Teleoperation: We integrated Meta Quest 3 with MuJoCo, using NVIDIA Sonic to achieve low-latency control. This allowed us to manually complete complex tasks, including walking to tables and performing pick-and-place maneuvers with beverages and apples.
Data Strategy with DeepLake: To handle high-throughput training, we used DeepLake to store and stream Lightwheel’s G1 beverage organization data. The efficient tensor storage provided the fast I/O necessary to fine-tune models within our tight time constraints.
Policy Fine-Tuning: We fine-tuned NVIDIA GR00T on our collected data. Since Sonic’s fine-tuning features are not yet released, we used it primarily for high-fidelity data collection while running autonomous inference through GR00T.
Diagnostics with Nomadic: To understand why our fine-tuned agent struggled with specific task instructions, we used Nomadic AI. This diagnostic layer allowed us to pinpoint failure modes in the model's reasoning, creating a clear path for future performance improvements.
By combining immersive teleop with robust MLOps tools, we've demonstrated a fast-track workflow for humanoid robot learning.

Note :: Forgot to add team members Sagar Patel :::sagarp3199@gmail.com and
Malika Rakhimova :: malikakxan16@gmail.com

please add as team member

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