code_and_sample_data · 已核验官方资源
审核码：verified_official; 官方关系：verified_official_repository_and_dataset; 最近核验：2026-07-20代码：Training, human/robot data collection, alignment, LeRobot conversion and Unitree G1 deployment paths are present in the official repository.
权重：No paper-trained EgoHumanoid checkpoint was verified in the repository or official Hugging Face namespace.
数据：A public, ungated Hugging Face sample contains downloadable robot and human LeRobot-format episodes; the review did not find the complete paper training corpus as a separately licensed public archive.
许可证：Apache-2.0；Official repository code and the OpenDriveLab/EgoHumanoid Hugging Face sample dataset declare Apache-2.0. GR00T WholeBodyControl, OpenPI and hardware SDK dependencies retain their upstream terms.
依赖：Python environment managed by uv、OpenPI/pi0.5 training stack、GR00T WholeBodyControl、ZED SDK、PICO/XRoboToolkit stack、LeRobot-format conversion
硬件/传感器：Unitree G1 with dex3-1 hands、ZED Mini head camera、PICO VR hardware for human collection、NVIDIA RTX 4090 or stronger GPU documented by the project
实机证据：Official paper/project reports Unitree G1 loco-manipulation and a 51% improvement over robot-only baselines in the reviewed comparison.；Repository documents a 50 Hz real G1 control path and physical data-collection pipeline; this review did not execute it.
独立复现：No independent end-to-end G1 reproduction with a commit, hardware bill and quantitative metrics was found.
限制/反面证据：The downloadable dataset verified here is explicitly a sample; it must not be described as the full training corpus.；No paper checkpoint or independent physical reproduction was verified.；End-to-end reproduction requires costly robot, camera, VR and GPU hardware.
当前建议：高潜待持续验证；Preserve the existing high-potential status; use the public sample for pipeline validation, not as evidence that the full reported training recipe is reproducible.
重点标签：recency:2026、practice:sample-pipeline-runnable、route:robot-free-egocentric-data、cost:hardware-heavy、evidence:official-real-robot、reproduction:independent-missing
核验来源：来源 1 · 来源 2 · 来源 3 · 来源 4 · 来源 5