Free-Base Keeper - Unitree G1 Scripted MuJoCo Goalkeeper

• Include an ONNX policy model for the Preferred submission standard.
• Policy type is unknown. Add arena-policy.json with policy_type: scripted or trained.
• Other formats can still be submitted. Preferred only describes the initial submission standard.

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 · 2026-10-27T00:40:15.778Z