代码 · 已核验官方资源
审核码：verified_official; 官方关系：verified_official_repository; 最近核验：2026-07-20代码：Repository and immutable commit 511f49582f432f2081a4eaa070f7e9d5f822fa4c were retrieved and matched to the paper.
权重：Not separately promoted by this code-repository review.
数据：Not separately promoted by this code-repository review.
许可证：Apache-2.0；Verified at commit 511f49582f432f2081a4eaa070f7e9d5f822fa4c. Apache-2.0 covers repository code; Isaac Gym and CMU/FBX data remain separately governed.
依赖：Python 3.8、PyTorch 1.10.0 with CUDA 11.3、Isaac Gym、rsl_rl、legged_gym、FBX motion tooling、CMU motion data
硬件/传感器：NVIDIA CUDA GPU、Unitree H1 for the paper's physical deployment path
实机证据：Official project media and paper report physical Unitree H1 whole-body motions; this batch verified code and instructions but did not run the robot.
独立复现：No independent runtime reproduction with fixed hardware and quantitative metrics was performed or established in this batch.
限制/反面证据：Verified at commit 511f49582f432f2081a4eaa070f7e9d5f822fa4c. Apache-2.0 covers repository code; Isaac Gym and CMU/FBX data remain separately governed.
当前建议：工程资源已核验；Use the pinned repository as an engineering starting point, while preserving the stated license, dependency and evidence boundaries.
重点标签：artifact:code-verified、license:explicit、runtime:not-reproduced
核验来源：来源 1 · 来源 2