code_and_weights · 已核验官方资源
审核码：verified_official; 官方关系：verified_noncommercial_training_simulation_deployment_and_pretrained_policies; 最近核验：2026-07-28代码：304 tracked files
权重：three .pt and three ONNX example policies
数据：motion tools and examples; no complete training corpus
许可证：CC-BY-NC-4.0；Noncommercial; repository explicitly prohibits commercial demos. Third-party assets retain their terms.
依赖：Isaac Gym、PyTorch、MuJoCo、ONNX Runtime
硬件/传感器：Unitree G1 for author and community deployments
实机证据：Author G1 demonstrations; independent user reports horse-stance success and balance failure.
独立复现：mixed partial
限制/反面证据：Noncommercial license；Hard-coded G1 paths；Physical trial denominator absent；Community balance and latency failures；No complete benchmark reproduction
当前建议：高动态全身运动主流技术2.0·社区部分运行；Run ONNX latency, sim-to-sim and tethered balance gates before physical use.
重点标签：whole-body-control、code:verified、weights:verified、community:mixed
核验来源：来源 1 · 来源 2 · 来源 3