code_and_weights · 已核验官方资源
审核码：verified_official; 官方关系：verified_mit_training_sim2sim_sim2real_and_onnx_release; 最近核验：2026-07-28代码：295 tracked files with training, sim-to-sim and two robot SDK paths
权重：three ONNX policies for G1 and Booster T1
数据：no new dataset release
许可证：MIT；Root FALCON source is MIT; robot assets and SDKs retain upstream terms.
依赖：Isaac Gym Preview 4、HumanoidVerse、MuJoCo、ONNX Runtime、unitree_sdk2_python or Booster SDK
硬件/传感器：Unitree G1-29DoF or Booster T1、healthy waist and wrist actuators、force gauge used only for author measurement
实机证据：G1 with 1.2 kg per hand: upper-body tracking error 0.39±0.08 versus 1.81±0.13 PD and 0.81±0.11 monolithic RL; qualitative 20-100 N tasks on G1/T1.
独立复现：mixed partial physical reproduction
限制/反面证据：End-effector forces only；No external torque curriculum；Strong wrist/waist health sensitivity；Unresolved sim-to-sim failure report；Physical task denominators not disclosed
当前建议：力适应Loco-manipulation主流技术2.0·硬件健康门禁；Verify actuator health and ONNX sim-to-sim tracking before a tethered zero-load G1 test; stop on oscillation or unexpected wrist compensation.
重点标签：force-adaptive-control、code:verified、weights:verified、community:mixed-physical
核验来源：来源 1 · 来源 2 · 来源 3 · 来源 4