Marc Donovici

Scripted joint/IMU-only touch navigation on pretrained NVIDIA GR00T locomotion. Free-base G1, real MuJoCo contacts. 100 distinct held-out layouts: 100/100, 100/100, 95/100 exits at 0/20/40 ms (600 s). Exact ARM64 image: 3/3 standard + 3/3 task runs, all exits. No camera, lidar or supplied map. Force goals unmet; simulation only, not hardware-qualified.

Marc Donovici·Unitree G1

Genuine guarded rallies:2.58 vs1.86 mean legal shots/50 paired starts,unsafe0/50. Exact-state research best14;unsafe1/50. RGB-D/contact odometry:49/50 standard,31/50 wide;live base translation withheld,ideal IMU/calibrated station. ARM64 standby artifact:one20s builder pass;failed repeats and all counterfactuals retained. Source,video,traces,13 tests and attribution. Extends willli/Alpslee,Unitree and NVIDIA work. Local simulation;full task/hardware unqualified.

Marc Donovici·Unitree G1