Apple Research Team Puts Mac mini on Unitree G1 Robot for HALO System

Apple's research team has developed a system called HALO that mounts an M4 Pro Mac mini on the Unitree G1 humanoid robot to handle perception, instruction understanding, and action planning. The system uses the Mac mini for high-level task scheduling and motion generation while an NVIDIA Jetson Orin NX handles low-latency joint control. In real-world tests, the robot achieved an 85% success rate in sitting on chairs. Training data was largely generated in simulation, producing approximately 300 hours of robot-view footage across 1,000 indoor environments.