Predict
A three-member action-conditioned model forecasts body, contact and control response.
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a08/unitree-g1-self-model
Unitree G1 Self Model
Predict how the machine responds, detect when its mechanics change and recover an active mission through verified local model repair.
Frozen after change0 / 48
Same-run recovery48 / 48
Episode resets0
Safety violations0
Inverted-leg demonstration
The machine changes during the mission.
The left-leg command response reverses after impact. A08 identifies the fault class, verifies the correction and completes the same run.
Recovery loop
Local diagnosis. Independent verification.
The demonstration uses four transitions for identification and four separate transitions for verification. The accepted correction is routed without resetting the episode.
Detect
Public proprioception reveals when observed mechanics leave the current model.
Diagnose
A bounded comparison identifies normal or inverted left-leg response.
Verify
Disjoint post-change transitions test the proposed correction before routing.
Recover
The controller continues from the current state and reaches the original target.
Separate sealed evidence
The larger confirmation used a milder fault.
A hidden 30% loss of actuator-command response broke every frozen mission. On 48 untouched confirmation runs, A08 detected the change and routed a previously verified repair without resetting the episode. These figures do not describe the smaller inverted-leg demonstration above.
Same-run recoveries48 / 48
Frozen mission success0 / 48
Timely detections48 / 48
Episode resets0
Falls or unwanted contacts0
Stable stops48 / 48
World Package
The evidence travels with the model.
Version 0.1.2 binds the machine contract, checkpoint identities, evaluation suites, repair lineage, limitations and both sealed replays.
39-state channels
Typed proprioception, 12 controller actions, seven context values and H1 to H25 predictions.
One local parameter
Action-response gain 0.65, parent version, verifier record and rollback route.
9 / 9 confirmed
Detection timing, route integrity, continuity, mission recovery and safety gates.
Read-only preview
Local evidence replay is available. Checkpoint access remains private and physical execution is disabled.
Evidence boundary
One known verified repair for one abrupt MuJoCo change. Novel online repair discovery is not claimed.
No hardware claim
No physical compatibility, safety or sim-to-real result is implied.
Independent work
The controller is a public Unitree artifact. A08 does not imply Unitree endorsement.
Work with A08
Bring us the machine that needs to understand its own change.
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