Unitree G1 robot pulls a rickshaw weighing up to 115 kg with one control policy

Researchers at the Shanghai Innovation Institute used a Unitree G1 humanoid to haul a custom unpowered rickshaw weighing up to 115 kg. A single control policy covers starting, sustained motion, turning and stopping without payload retuning.

• G1 with 29 actuated joints and two Dex1-1 grippers pulled a rickshaw up to 115 kg
• The custom rickshaw weighs 22.8 kg unloaded and was built at reduced scale
• One control policy handles all phases without retuning for different payloads
• Open questions: autonomy level, uneven terrain and independent replication