Framework to Teach Unitree G1 Humanoid Soccer Kicks Released on GitHub

A research team including ShanghaiTech University has released on GitHub the official implementation of PAiD, a progressive framework that teaches the off-the-shelf humanoid robot Unitree G1 how to kick a soccer ball. The code accompanies the paper "Learning Soccer Skills for Humanoid Robots: A Progressive Perception-Action Framework" (arXiv:2602.05310, 2026), authored by Jipeng Kong, Xinzhe Liu and others. The HumanoidSoccer repository bundles training scripts, a dataset of kick motions, and MuJoCo evaluation code.