XMimic trains Unitree G1 whole-body motion tracking in 54 seconds on 4 H100s
carlosdponx · x · 2026-11-07
Nico Bohlinger open-sourced XMimic, a JAX rebuild of BlinkMimic's world-model trainer for whole-body motion tracking on the Unitree G1.
- One policy tracks all 40 LAFAN1 motion clips, trained in 54 seconds (0.91 min) on four H100s
- 3.5x faster than BlinkMimic (which needs 3.19 min on one GPU) and 85x faster than SuperMimic; still 1.3x faster on a single H100
- Same task, hyperparameters, and evaluation as the original; MIT-licensed code plus a paper
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