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Unitree G1 football
Shared by banksythequantLabParkour v4 — Real Physics Stairs Jump — Unitree G1
Policy + simulator
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Parkour v4 — Real Physics Stairs Jump — Unitree G1About this project
FREE-BASE scripted; kinematic assist REMOVED. Real gravity/contacts. Stair climb + standing jump (or handstand if achieved). Not trained / not hardware-ready. Causality pass.
- Environment
- MuJoCo
- Robot
- Unitree G1
- Includes
- Policy + simulator
FROM SIM TO REAL
Safety & real-world tests
01 · SubmissionFormat checked
Preferred format
02 · SimulationNeeds changes
Automated G1 safety checks
03 · Real robotNo approval recorded
Runner video and data appear here
Robot package missing
No runner container found. Include submission.tar, or g1-runner.json with a public archive URL and SHA-256 for a large image. A model ZIP and run.sh alone cannot start in the G1 runner. setup.sh stays on the robot.
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.
Needs changes
8 scenarios crossed an enforced limit. Review the screening report.
92 tests without findings · 8 tests with findings · 0 evaluation errors · 0 unavailable or unreported scenarios
Provisional screening profile. Tests with findings need review; evaluation errors need investigation. Neither counts as a pass.
Loading builder feedback…
Unitree G1 29-joint neural locomotion policy with explicit velocity commands, without the sample submission's scripted phases, hops or arm overrides
Release: g1-screening-pr10-e93c492-v3
Evaluator revision: e93c49267a7b6b905c6666c8c70668f8ee7ac397
Policy SHA-256: e7f30bc27f7e58705f47e138476169fe251323dd04159cb109c23e73969fb6e6
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 · 2026-10-13T16:59:45.097Z
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.
Needs changes
8 scenarios crossed an enforced limit. Review the screening report.
92 tests without findings · 8 tests with findings · 0 evaluation errors · 0 unavailable or unreported scenarios
Provisional screening profile. Tests with findings need review; evaluation errors need investigation. Neither counts as a pass.
Unitree G1 29-joint neural locomotion policy with explicit velocity commands, without the sample submission's scripted phases, hops or arm overrides
Release: g1-screening-pr10-e93c492-v2
Evaluator revision: e93c49267a7b6b905c6666c8c70668f8ee7ac397
Policy SHA-256: e7f30bc27f7e58705f47e138476169fe251323dd04159cb109c23e73969fb6e6
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.
Needs changes
8 scenarios crossed an enforced limit. Review the screening report.
92 tests without findings · 8 tests with findings · 0 evaluation errors · 0 unavailable or unreported scenarios
Provisional screening profile. Tests with findings need review; evaluation errors need investigation. Neither counts as a pass.
Unitree G1 29-joint neural locomotion policy with explicit velocity commands, without the sample submission's scripted phases, hops or arm overrides
Release: g1-screening-pr10-e93c492-v1
Evaluator revision: e93c49267a7b6b905c6666c8c70668f8ee7ac397
Policy SHA-256: e7f30bc27f7e58705f47e138476169fe251323dd04159cb109c23e73969fb6e6
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.
Needs changes
100 scenarios crossed an enforced limit. Review the screening report.
0 tests without findings · 100 tests with findings · 0 evaluation errors · 0 unavailable or unreported scenarios
Provisional screening profile. Tests with findings need review; evaluation errors need investigation. Neither counts as a pass.
Unitree G1 29-joint neural locomotion policy with explicit velocity commands, without the sample submission's scripted phases, hops or arm overrides
Release: g1-screening-pr6-47cd947-v4
Evaluator revision: 47cd9479d5dda1598e12ec94649e6e7bc1468d63
Policy SHA-256: e7f30bc27f7e58705f47e138476169fe251323dd04159cb109c23e73969fb6e6
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.
Needs changes
100 scenarios crossed an enforced limit. Review the screening report.
0 tests without findings · 100 tests with findings · 0 evaluation errors · 0 unavailable or unreported scenarios
Provisional screening profile. Tests with findings need review; evaluation errors need investigation. Neither counts as a pass.
Unitree G1 29-joint neural locomotion policy with explicit velocity commands, without the sample submission's scripted phases, hops or arm overrides
Release: g1-screening-pr6-47cd947-v2
Evaluator revision: 47cd9479d5dda1598e12ec94649e6e7bc1468d63
Policy SHA-256: e7f30bc27f7e58705f47e138476169fe251323dd04159cb109c23e73969fb6e6
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.
Screening result
The Cloudflare screening worker could not complete this evaluation. Ask a runner to retry.
Provisional screening profile. Tests with findings need review; evaluation errors need investigation. Neither counts as a pass.
No simulation ran unless this report records a supported controller and scenario coverage.
Release: g1-screening-pr6-47cd947-v2
Evaluator revision: 47cd9479d5dda1598e12ec94649e6e7bc1468d63
Policy SHA-256: e7f30bc27f7e58705f47e138476169fe251323dd04159cb109c23e73969fb6e6
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.
Needs changes
100 scenarios crossed an enforced limit. Review the screening report.
0 tests without findings · 100 tests with findings · 0 evaluation errors · 0 unavailable or unreported scenarios
Provisional screening profile. Tests with findings need review; evaluation errors need investigation. Neither counts as a pass.
Unitree G1 29-joint neural locomotion policy with explicit velocity commands, without the sample submission's scripted phases, hops or arm overrides
Release: g1-screening-pr6-47cd947-v1
Evaluator revision: 47cd9479d5dda1598e12ec94649e6e7bc1468d63
Policy SHA-256: e7f30bc27f7e58705f47e138476169fe251323dd04159cb109c23e73969fb6e6
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.
Check incomplete
Screening incomplete: 12 violations, 0 errors, 162 unavailable or unreported scenarios.
0 tests without findings · 12 tests with findings · 0 evaluation errors · 162 unavailable or unreported scenarios
Provisional screening profile. Tests with findings need review; evaluation errors need investigation. Neither counts as a pass.
Unitree G1 29-joint neural locomotion policy with explicit velocity commands, without the sample submission's scripted phases, hops or arm overrides
Release: g1-screening-pr6-53db74e-v1
Evaluator revision: 53db74e1a81163d349f8a0170792d47cc867a7b5
Policy SHA-256: e7f30bc27f7e58705f47e138476169fe251323dd04159cb109c23e73969fb6e6
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 e7f30bc27f7e58705f47e138476169fe251323dd04159cb109c23e73969fb6e6What’s included
Policy + simulator · Result video · Project ZIP
Builder-provided run command
./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 · 22.3 MB
SHA-256 e7f30bc27f7e58705f47e138476169fe251323dd04159cb109c23e73969fb6e6
result.mp4 · MP4