Whole-body control checkpoints that make a Unitree G1 humanoid follow human motion capture clips in simulation. Seventeen single-clip expert policies, plus one distilled policy that replaces fourteen of them. Six seconds of walk2subject4: the policy on the left, the reference it is following on the right, both in Isaac Lab. Architecture — MLP, hidden [2048, 2048, 1024, 1024, 512], ELU. The completion. Input — 260 floats. Every velocity term is multiplied by velscale = 0.05 before it reaches the network. The last 100 entries are differences rather than raw references, subtraction first. Output — 29 floats, a residual. The joint position target is with defaultjointpos in student/config.json.…