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 004f670638da6f9f7c32bc508784dcad19e0a1ca 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：CC-BY-NC-4.0；Verified at commit 004f670638da6f9f7c32bc508784dcad19e0a1ca. License is non-commercial and must not be presented as unrestricted open source.
依赖：Isaac Gym、legged_gym、rsl_rl、MuJoCo sim-to-sim pipeline
硬件/传感器：NVIDIA GPU for Isaac Gym training、Fourier GR1T2 for the released real-world deployment path
实机证据：Repository explicitly includes Fourier GR1T2 real-world deployment code; official paper/project shows physical locomotion, but no independent reproduction was verified.
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 004f670638da6f9f7c32bc508784dcad19e0a1ca. License is non-commercial and must not be presented as unrestricted open source.
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
