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Free-standing G1 rallying against HIM's opponent
Shared by Marc DonoviciRIGHT HAND RULE V2 - Maze by touch, joints + IMU
Policy + simulator
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RIGHT HAND RULE V2 - Maze by touch, joints + IMUAbout this project
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.
- Environment
- MuJoCo
- Robot
- Unitree G1
- Includes
- Policy + simulator
FROM SIM TO REAL
Safety & real-world tests
01 · SubmissionFormat checked
Archive and policy files
02 · SimulationSimulation not run
Prepare a compatible export below
03 · Real robotNo approval recorded
Runner video and data appear here
Image reference provided · unverified
Container reference recorded; bytes, architecture, entrypoint and execution are not verified.
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.
Inspected file: RightHandRule/g1-runner.json
Builder-provided archive: Open external image download (unverified)
Builder-declared image SHA-256: db0ed1194f03a71d706f161e2ee1fbf368a09f3632dd5ff36329f9d303d00051
Declared inputs: joint_state, imu
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: 905a7cfe582cadb84f43386adba4941073c994150f70a7862fbf3aa1383f0ed7
Submission format
Policy type unknown
Multiple ONNX models found. Set model in arena-policy.json to choose the policy.
- Multiple ONNX models found. Set model in arena-policy.json to choose the policy.
- 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 · 2026-11-10T16:31:48.337Z
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.
RightHandRule.zip · SHA-256 905a7cfe582cadb84f43386adba4941073c994150f70a7862fbf3aa1383f0ed7What’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
RightHandRule.zip · 61.0 MB
SHA-256 905a7cfe582cadb84f43386adba4941073c994150f70a7862fbf3aa1383f0ed7
result.mp4 · MP4