simulation_code_and_weights · 已核验官方资源
审核码：verified_official; 官方关系：verified_apache_mujoco_playback_and_three_policy_files_without_training_or_deployment_source; 最近核验：2026-07-28代码：77 tracked files, primarily MuJoCo interactive playback and robot meshes
权重：amo_jit.pt plus adapter_jit.pt and normalization statistics
数据：AMO optimization dataset not released
许可证：Apache-2.0；Root source and included files are under Apache-2.0 unless third-party model/mesh terms apply.
依赖：MuJoCo 3.2.3、mujoco-python-viewer 0.1.4
硬件/传感器：Simulation on desktop、paper uses Unitree G1-29DoF with Dex3-1 hands, active head and ZED Mini、paper reports Jetson Orin NX 50 Hz
实机证据：Two autonomous tasks use ten evaluations per stage; long-horizon basket sequence is one author case study.
独立复现：mixed partial physical deployment
限制/反面证据：Training code absent；Teleoperation code absent；C++ Jetson deployment code absent；AMO dataset absent；Community Jetson jitter and unsafe-motion reports
当前建议：超灵活全身控制主流技术2.0·仿真权重先行；Use MuJoCo command-range and stability tests only; do not deploy the Python playback path on G1 and require the missing C++ observation/deployment closure.
重点标签：whole-body-control、code:simulation-only、weights:verified、community:mixed-physical
核验来源：来源 1 · 来源 2 · 来源 3 · 来源 4