代码 · verified_hold
审核码：verified_hold; 官方关系：project_page_declares_code_and_data_coming_soon_no_paper_artifact_found; 最近核验：2026-08-13代码：not released; official page labels Code (Coming Soon) and points to the generic https://github.com/ URL
权重：not found; GPT-4V/GPT-4 are external closed services and no Humanoid-COA policy checkpoint is released
数据：not released; official page labels Data (Coming Soon), and no physical RGB-D task logs, calibration or task manifest is available
许可证：not_disclosed_for_paper_artifacts；The website/template attribution does not license Humanoid-COA code, prompts, GPT service access, policies, data, calibration, Unitree SDK integration or experiment media.
依赖：GPT-4V scene-description service、GPT-4 reasoning service、RGB-D cameras、Data Distribution Service middleware、end-effector inverse kinematics、high-level navigation、unreleased trained load-stability policy dependency
硬件/传感器：Unitree H1-2 27-DoF humanoid with Inspire Hand 6-DoF grippers、Unitree G1 21-DoF humanoid with adaptive grippers、two RGB-D cameras per robot: head-down manipulation and chest-forward navigation/search
实机证据：Author-reported H1-2 and G1 experiments in an open area and a one-bedroom/one-bathroom/one-kitchen/one-living-room apartment.；Author table reports 83.3% sequential loco-manipulation success versus 63.3% strongest listed baseline and 66.6% occlusion-aware loco-manipulation success.；Author ablation reports 45% success with none of affordance, spatial and whole-body modules versus 75% with all three.
独立复现：None verified.
限制/反面证据：No official method source, fixed commit or license；No checkpoint, training/evaluation data, prompt/config manifest or container；No Unitree controller bridge, latency/cost disclosure, calibration/synchronization or recovery/safety protocol；No trial denominators/variance or independent reproduction；Closed GPT-4V/GPT-4 service dependency prevents an offline reproducibility claim
当前建议：人形多模态CoA推理真机证据·待开放/待复现；Use as a recently verified real-humanoid system and comparison-family reference. Do not place it in an open-source, low-cost, reproducible VLA/WAM or generalization leaderboard until the method stack and an independent physical reproduction are available.
重点标签：H1-2真机、G1真机、多模态基础模型、具身链式动作推理、零样本loco-manipulation、主流技术2.0、社区验证待补
核验来源：来源 1 · 来源 2 · 来源 3