代码 · hold_missing_license
审核码：hold_missing_license; 官方关系：unverified_for_reproducible_open_use; 最近核验：2026-07-20代码：Public repository page and immutable head were inspected, but the promotion gate was not met.
权重：Not promoted or separately verified in this review.
数据：Not promoted or separately verified in this review.
许可证：not_disclosed；README identifies the exact STATE-NAV paper and active hardware-oriented development, but no root license file or GitHub-detected license was found.
依赖：未披露
硬件/传感器：未披露
实机证据：未披露
独立复现：No qualifying independent reproduction with a commit, disclosed hardware and quantitative metrics was established.
限制/反面证据：README identifies the exact STATE-NAV paper and active hardware-oriented development, but no root license file or GitHub-detected license was found.
当前建议：证据观察；README identifies the exact STATE-NAV paper and active hardware-oriented development, but no root license file or GitHub-detected license was found.
重点标签：promotion:withheld、license:missing-or-anomalous、runtime:not-reproduced
核验来源：来源 1
major_ros2_code_checkpoint_and_bag_update_without_license · hold_missing_artifact_scoped_license
审核码：hold_missing_artifact_scoped_license; 官方关系：verified_official_resources_without_artifact_scoped_license; 最近核验：2026-07-21代码：不可变提交 d3e2f4b 的 ROS2_dev 默认分支含 42 个源码/配置文件、ROS 2 package、TravFormer 推理、TravRRT*、Dockerfile、环境清单、RViz 配置和启动命令。README 报告相对早期版本约 10 倍运行加速。
权重：statenav_global/inference/checkpoints/Checkpoint_Example.pth 的匿名下载端点返回 HTTP 200，内容长度 13,403,106 字节；README 将其描述为 Unitree G1 盲走控制器，文件名和模型卡未把它证明为完整 STATE-NAV 导航权重。
数据：ROS/bag_isaac/rosbag2_2026_06_18-23_30_21_0.db3 的 Git LFS 下载端点返回 HTTP 200，内容长度 282,525,696 字节；它是示例 ROS 2 bag，不应外推为完整训练数据集或真实 Digit 数据。
许可证：not_disclosed；提交根目录和递归树均没有 LICENSE、COPYING 或包级许可证声明。README 对 elevation_mapping_cupy 和 pypolo 的 MIT 致谢只覆盖上游组件，不能许可 STATE-NAV 新增代码、checkpoint 或 ROS bag。
依赖：Ubuntu 22.04 / ROS 2 Humble、NVIDIA CUDA 12.8.1 and cuDNN Docker base、Python 3.10, PyTorch CUDA wheels, TensorFlow, PyTorch Lightning, OpenCV and scientific/geometry packages、Docker plus NVIDIA Container Toolkit、RViz 2, rosbag2 and elevation-map message packages
硬件/传感器：Docker path requires an NVIDIA CUDA-capable host; minimum VRAM is not disclosed、paper physical validation uses Digit with a chest ZED 2i and an external i7-12700H / RTX 3060 Mobile laptop、released G1 checkpoint is a blind locomotion controller rather than a complete G1 STATE-NAV navigation stack
实机证据：The paper reports Digit in three outdoor environments with 54 s, 32 s and 34 s goal times and maximum BFSA instability 3.4, 2.0 and 1.7; traversability/global planning updates every 5 s and MPC runs at 3 Hz.；The public ROS 2 release includes a G1 blind-locomotion checkpoint, but the paper's complete stability-aware navigation stack is still physically demonstrated on Digit, not independently on G1.
独立复现：No independent fixed-commit ROS 2 run, comparable simulation table or physical Digit/G1 navigation result was found; the repository has no qualifying issue or external reproduction report.
限制/反面证据：没有根许可证，代码、checkpoint 和 ROS bag 均不能进入已核验开源排序。；README 的 ROS2 分支指令与实际 ROS2_dev 默认分支不一致。；G1 checkpoint 仅标为 blind locomotion controller，不能替代完整 STATE-NAV 感知与规划栈。；ROS bag 是示例回放，不是带数据卡、隐私和许可说明的训练数据集。；未执行约 282.5 MB ROS bag、Docker 构建或机器人部署。
当前建议：当前可实践导航模块，许可证待补；ROS 2/Docker、checkpoint 和 rosbag 使 TravFormer/TravRRT* 模块首次具备低成本静态与回放验证条件；在根许可证、分支文档、完整 G1 导航栈和独立复现补齐前仍不能视为开源默认方案。
重点标签：recency:2026-major-update、navigation:bipedal-traversability、artifact:ros2-docker-source-available、weights:g1-blind-controller-available-unlicensed、data:rosbag-available-unlicensed、license:missing、hardware:digit
核验来源：来源 1 · 来源 2 · 来源 3 · 来源 4 · 来源 5 · 来源 6
