Apple’s HALO Humanoid Control System Hits 91% Success Rate on Unitree G1

Apple's entry into humanoid control research, validated on a third-party Unitree platform rather than its own hardware, signals that the sim-to-real gap is becoming a software problem that large tech firms can attack with foundation models. The 91% success rate in unfamiliar rooms matters less as a benchmark than as evidence that simulation-trained policies can generalize without per-room tuning. The open question is whether this remains a research preprint or becomes a licensing or partnership thread between Apple and robotics vendors like Unitree.