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Unitree G1 moving through a fight-to-dance transition in seven frames from the TU Darmstadt study. — Michael Drolet, Oleg Arenz and Jan Peters

Analysis · 2 November 2026

Motion tokens let Unitree G1 switch from fighting to dancing. The plan is still offline.

A TU Darmstadt system runs generated dance, fight and walk sequences on a physical G1 through compact motion tokens. The 35-second transition is real hardware evidence, but not online replanning or a task-reliability benchmark.