SitStand — sitting down and standing up
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Mjlab-SitStand-Flat-MicroDuck
Mjlab-SitStand-Rough-MicroDuckCommanded sit ↔ stand, in one policy. D-pad down on the pad triggers it.
Not the same as StandUp
Easy to confuse, but they solve different problems:
| Starts from | Triggered by | |
|---|---|---|
| StandUp | Already on the floor | Recovery, usually after something went wrong |
| SitStand | Standing or sitting | A deliberate command |
StandUp is “something happened”; SitStand is “I want it to sit down”.
Gentleness is part of the objective
The official description says gently, and that matters: if sitting converges to “relax and let gravity finish”, the robot drops onto the floor. The reward has to constrain the descent.
The head stays controllable throughout, so it can be looking somewhere while it sits.