InstantTrack

Whole-body motion tracking for the Unitree G1 in about 3 minutes on one GPU. InstantTrack trains a single policy for all 40 LAFAN1 clips (2.45 h of motion) to an evaluation normalized return of 0.82 with 0 of 40 failed clips at the first checkpoint on one RTX 5090, for all 5 seeds, and holds it from there.