Now: bachelor’s thesis with the G1 robot

Hi, I’m Dávid Moniš.

I study computer science at Comenius University in Bratislava. I work with a G1 humanoid robot and use a VLA model to teach it to follow text commands. In my free time I build web apps and games, and I work part-time at Orange.

What I’m working on GitHub
Dávid Moniš
davidmonis.github.io/talk-to-walk Open
Floor plan of corridors with the route the robot should walk from text alone Start

Instruction for the robot

  1. Go straight.
  2. At the next junction, turn right,
  3. then right again,
  4. go straight,
  5. turn right,
  6. turn right
  7. and stop where you started.

Illustration of the target task, not a recorded run

  • Python
  • PyTorch
  • Isaac Sim
  • C#
  • C++
  • Java
  • Unity
  • Unreal Engine 5
  • Git
  • Linux and WSL

Projects

What I’m working on

My bachelor’s thesis and year project at Comenius University, and the game I learned Unity on.

In progress

TalkToWalk

I’m teaching a Unitree G1 humanoid robot to go where I tell it.

The robot gets a text instruction, looks around with its camera and finds the way on its own. To get there I’m fine-tuning the NVIDIA GR00T N1 VLA model, first in Isaac Sim, then on the real robot in the faculty corridors.

  • Unitree G1
  • GR00T N1
  • Isaac Sim
  • ROS 2
  • PyTorch
Project page Code

Bachelor’s thesis, Comenius University Bratislava, due in spring 2027

Milestones

  1. Topic and literatureThesis assigned in October 2026; the core papers on VLA models and humanoid navigation reviewed.
  2. Getting to know the G1Safe start-up, the ROS 2 interface, camera and LiDAR, walking commands.
  3. SimulationThe G1 and the building’s corridors in NVIDIA Isaac Sim.
  4. Junction detectionData from simulation and real routes, a new output head for GR00T N1.
  5. Text-guided walkingFine-tuning the model to follow a sequence of commands.
  6. Real-world testA full lap of the corridor loop at the faculty, with static and moving obstacles.
  7. Thesis and releaseThe written thesis, the code and, where possible, data and models.
Finished

PyTorch Game Agent

I taught a neural network to play Snake, then the competitive game Hungry Geese from Kaggle.

The agent improved by playing against itself, with my own tree search (MCTS), and in the end I benchmarked it against the solution that won gold in the competition. The gold solution won, but in a direct duel with two bots my average placement was 1.695 against its 1.370.

  • PyTorch
  • CNN
  • MCTS
  • Self-play
  • Kaggle
Project page Code

Year project, Comenius University Bratislava, 2025/2026. The project page is in Slovak.

65.7 h

of training

1.74 M

training positions

10,000+

games played

1.29 M

network parameters

Average placement in a direct duel (four players, 100 games, lower is better)

Gold solution1.370
My agent1.695
Unity, 2024

Save Daughter

A 3D action RPG where you fight your way through meadows, a village and a city to your daughter.

Five levels, melee and bow combat, saving and a boss fight in a cave. I built the foundation following the GameDev.tv course “RPG Core Combat”; the levels, the story and further extensions are my own.

  • Unity
  • C#
  • NavMesh
  • Save system
Download the gameWindows, 258 MB

Free for Windows 10 and 11 (64-bit). The game is not code-signed, so Windows may show a SmartScreen warning when you start it. Synty POLYGON models and Explosive animations from the GameDev.tv student licence. I replaced the music with my own, synthesised in code.

  • Tutorial: the hero on a meadow with the game’s welcome text
  • A cobbled street of the city you have to fight through
  • Archers shooting arrows at the player by a fence
  • Boss fight in a cave, a fire attack

In my free time

Web apps and games

Smaller projects that run on their own addresses. You can try them right away. Their interfaces are in Slovak.

About

From Unity games to a humanoid robot

I started with games in Unity and Unreal Engine. My year project took me into reinforcement learning, and in my thesis I’m now teaching a G1 humanoid to walk by text instructions. Alongside university I work part-time at Orange, and I build web apps from the first idea all the way to deployment.

  • Bratislava and Banská Bystrica, Slovakia
  • English B2
Nový most bridge and Bratislava Castle at night, lights reflected in the Danube
Bratislava, where I study

3rd

year of computer science at Comenius University

2027

spring, when I hand in my G1 thesis

3

apps and games running online, ready to try

Study and work

  • since 2024Computer Science, FMFI UKFaculty of Mathematics, Physics and Informatics, Comenius University Bratislava, 3rd year of the bachelor’s programme
  • since 2025Orange SlovenskoIT data migration coordinator (part-time), moving company data from a file server to SharePoint
  • summer 2025Incidental MindsGame developer intern, I worked on the aiming system in Unreal Engine 5

What I work with

CV

AI and robotics

  • Python
  • PyTorch
  • Isaac Sim

Games

  • Unity
  • Unreal Engine 5
  • C#
  • C++

Other

  • Java
  • Git
  • Linux and WSL

Got a question or an idea?Write to me.

Email is the fastest way to reach me.

Send an email

david5.monis@gmail.com

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