code_and_weights · 已核验官方资源
审核码：verified_official; 官方关系：verified_noncommercial_training_sim2sim_and_one_policy_release; 最近核验：2026-07-28代码：153 tracked files
权重：one high-knees residual policy
数据：body-mask dependency is external
许可证：CC-BY-NC-4.0；Noncommercial; vendored components and assets retain upstream terms.
依赖：Isaac Gym、MuJoCo、PyTorch、external body mask
硬件/传感器：One RTX 4090 for stage one and four RTX 4090 for stage two in paper、Unitree G1 and RealSense D435i
实机证据：Author qualitative terrain demos; community simulation succeeds while depth and sim-to-real fail.
独立复现：mixed partial
限制/反面证据：Noncommercial license；One policy checkpoint；External body-mask dependency；No repeated physical denominator；Community sim-to-real failures
当前建议：感知拟人步态主流迭代·社区仿真运行；Require depth-input and sim-to-real gates before physical deployment.
重点标签：perceptive-locomotion、code:verified、weights:partial、community:mixed
核验来源：来源 1 · 来源 2 · 来源 3