代码 · 已核验官方资源
审核码：verified_official; 官方关系：verified_substantive_official_repository_fixed_commit; 最近核验：2026-08-13代码：MIT source contains training, evaluation, simulation environments, generation helpers and config files
权重：Google Drive link present but no fixed model revision or manifest audited
数据：HITR Google Drive link and HSSD preparation instructions present but no fixed dataset revision or standalone license audited
许可证：MIT；HumanVLA repository code only; NVIDIA Isaac Gym, HSSD, ASE, OMOMO, SAMP, Google Drive checkpoints and assets remain separately governed.
依赖：Python 3.8、PyTorch、Isaac Gym under NVIDIA terms、HITR download、HSSD assets、third-party ASE/OMOMO/SAMP assets
硬件/传感器：CUDA GPU; README uses torchrun with four local processes、simulation only; no physical humanoid hardware is specified
实机证据：None. Paper Appendix B states it studies simulated physical humans and treats real-humanoid extension as future work.
独立复现：No independently verified full HITR/checkpoint reproduction found.
限制/反面证据：No real-humanoid evidence；Legacy Isaac Gym dependency；Data/checkpoints are links without pinned revisions or audit；Third-party asset terms are mixed; OMOMO has no specified license in paper appendix；No container lockfile or independent reproduction
当前建议：仿真人形VLA重排历史基线·非真机证据；Use only as an Isaac Gym human-motion/object-rearrangement baseline. Do not place it in an operational humanoid, wheel-arm, wheel-leg or physical VLA leaderboard unless a separately reviewed physical transfer is published.
重点标签：仿真人形、VLA主流迭代、教师学生蒸馏、开放代码、真机证据缺失
核验来源：来源 1 · 来源 2