code_and_weights · 已核验官方资源
审核码：verified_official; 官方关系：verified_unlicensed_deployment_training_and_checkpoint_release; 最近核验：2026-07-29代码：deployment repository with 90 tracked files and training repository with 69 tracked files
权重：G1 policy.onnx and policy.pt are tracked
数据：human-motion source datasets must be obtained separately
许可证：not_disclosed；Neither deployment nor training repository contains a root license; public source and weights cannot be assumed commercially reusable.
依赖：Ubuntu 22.04、Python 3.10、PyTorch 2.7、CUDA 12.8、Isaac Sim 4.5、Isaac Lab、MuJoCo
硬件/传感器：Unitree G1、paper reports about five hours training on four A100 GPUs、force gauge/pressure pads for author evaluation
实机证据：Author force-gauge, hugging and deformable-object demonstrations without repeated-trial denominators.
独立复现：counterevidence_only
限制/反面证据：No repository or checkpoint license；Official checkpoint sim-to-sim standing failure report；Cross-robot policy transfer failure report；Critic dimension mismatch during fine-tuning；Full RGB-to-G1 pipeline absent；No independent physical reproduction
当前建议：柔顺上肢控制主流迭代·先做仿真站立烟测；Treat the fixed checkpoint as an evaluation candidate, not a deployable policy; require a standing and force-limit simulation smoke test before hardware.
重点标签：compliance-control、code:verified-unlicensed、weights:verified-unlicensed、community:failure
核验来源：来源 1 · 来源 2 · 来源 3 · 来源 4