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NEURAL TAIKO FESTIVAL
Shared by HiroakiMachidaSHISHIMAI v2 - Dynamic Festival Dance | Unitree G1
Policy + simulator
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SHISHIMAI v2 - Dynamic Festival Dance | Unitree G1About this project
Dynamic v2: 110-degree head sweep, 120-degree shoulder sweep, 0.80 m hand-height range. Free-standing motor-driven MuJoCo; scripted + pretrained balance + gravity feedforward. Dynamic task 9/12, neutral 0/12; three unstable starts. Simulation only; not hardware-ready. Replaces source_54b57ede9b7ae5bd29cd.
- Environment
- MuJoCo
- Robot
- Unitree G1
- Includes
- Policy + simulator
FROM SIM TO REAL
Safety & real-world tests
01 · SubmissionFormat checked
Preferred format
02 · SimulationSimulation not run
Prepare a compatible export below
03 · Real robotNo approval recorded
Runner video and data appear here
Robot package needs changes
g1-runner.json is invalid or uses another contract revision. Copy the current example from the G1 guide; include a permanent public HTTPS archive URL, its 64-character lowercase SHA-256 and all required sensors.
Container simulation and hardware qualification are separate. Arena’s current automatic model screening does not execute the submitted image, its entrypoint, ROS interface or camera pipeline.
Before a robot run, verify the image digest and run that same container through the repository’s safety-enabled simulator. Retain the reports and traces. Builder-provided reports require independent verification; they never grant automatic hardware approval.
Required: linux/arm64, installed dependencies, one entrypoint, the 29-slot safety protocol and abort handling. Camera/lidar are not standard inputs; base state needs qualification. setup.sh belongs on the robot.
Pinned team requirementsContract revision: e93c49267a7b6b905c6666c8c70668f8ee7ac397
Preferred means the submission format is easy to process. It says nothing about safety.
This automated check records simulation findings. Even a complete run with no findings does not award a Safe or Sim2Real Ready tag. The current screening system requires separate hardware approval; that approval is not provided by this check.
Real-world validated appears only after a runner publishes a successful physical test. It describes that test, not a guarantee for future runs.
Safety check
Model screening only. This report does not verify the submitted container’s startup, safety messaging or sensor inputs. See the G1 runner package requirements above.
Simulation not run · compatibility blocked
Arena could not start the safety simulation for this upload. No safety result was established. Follow the preparation steps below.
Loading builder feedback…
Original diagnostic: Model files were found, but no supported controller interface was identified. Export using a supported G1 interface and declare its safety_adapter in arena-policy.json; see /docs/g1-policy-checks. Preserve the exact observation order, joint order, scaling, normalization and timing. Do not relabel an incompatible checkpoint.
No simulation ran unless this report records a supported controller and scenario coverage.
Release: g1-screening-pr10-e93c492-v3
Evaluator revision: e93c49267a7b6b905c6666c8c70668f8ee7ac397
Policy SHA-256: beb5d7619c86bb053574bb6133e6af65eb05ee5529d353f649b0af68e66844a3
Submission format
Trained · Automatically detected · Preferred · ONNX recognized
- ONNX model structure recognized: version, operations, inputs and outputs are present.
- Likely trained, based on model parameters. Training provenance is not verified.
- Preferred: recognizable ONNX and an identified policy type make this submission easier to evaluate. Safety is checked separately.
Static inspection only; this does not establish training provenance or hardware safety.
An identified policy type and a recognizable ONNX model help us process submissions consistently. Preferred does not mean Sim2Real Ready. Other formats are welcome.
For the clearest result, include an ONNX model and an arena-policy.json file beside it:
{"policy_type":"trained","model":"policy.onnx"}Use scripted for hand-authored behavior. The model path is relative to this file. The first validator checks model structure up to 16 MB; it does not run the model.
Validator: arena-validator-v2-g1-container · 2026-11-05T19:49:46.524Z
No real-world test recorded in Arena yet. Video, results, and run data will appear here.
Get started
Download the project files to explore, reproduce, or build on this work. Inspect the builder’s code before running it in your environment.
submission.zip · SHA-256 beb5d7619c86bb053574bb6133e6af65eb05ee5529d353f649b0af68e66844a3What’s included
Policy + simulator · Result video · Project ZIP
Builder-provided run command
bash run.shEvaluation details
Recorded screening and hardware evidence are shown in the real-world test section above.
Limitations
This project is shared by its builder. Simulation results do not establish real-world safety. Review the source, dependencies, licensing, and hardware requirements before use.
Files & contents
submission.zip · 21.6 MB
SHA-256 beb5d7619c86bb053574bb6133e6af65eb05ee5529d353f649b0af68e66844a3
result.mp4 · MP4