I did not release trained models with them but only the code support. You can change keypoint-based and rotation-based based on your need (obs_v=7 is keypoint based and obs_v=6 is rotation based).
No domain randomization. I have started adding DR in the humanoid_teleop.py file but haven't tested in real-world yet.
For deploying on the real-humanoid, please refer to policy released in OmniH2O.
Hi Luo, thank you for releasing code for Unitree Robot!!!
For the Unitree policies, there are several questions expecting your reply: