Unitree G1 Strike a Pose

[JyVenom]

How do i train a policy to have the unitree G1 robot strike a specific pose (given joint angles) or dance sequence (i have retargeted mocap data, i.e. joint angles at 30fps) and maintain balance. I.e. how do i do the "Robotic Policy Generation"

[Kashu7100]

You can refer to PHC as your starting point.