A Unitree G1 walks end-to-end
through AEROS.
Runtime schedules. ECM dispatches. Governance approves. Embodiment executes. Four layers, one closed loop. AGPL-clean dependency stack throughout.
30s narrated walk-through. Captions land on each chain step: Runtime → ECM → Governance → Embodiment. Live HUD telemetry uses the actual data shapes the bridge emits. Sim G1 in MuJoCo · seamless loop.
What you're seeing
≥0.4 m over 1.5 s per NavigateECM dispatch SimulatedUnitreeG1Robot + NavigateECM and asserts pelvis advances ≥0.3 m under the g1_onnx_locomotion policy pipdeptree | grep -i agpl empty From scheduler to joint torque
The same call path that runs in this sim is what a real-robot bridge process executes. Every layer is named, versioned, and traceable to source files in the open repo.
Runtime — lifecycle & scheduling
Bridge process initializes, loads the IdentityManifest, attaches the persona engine + Layer 2 consolidator + DreamScheduler. Lifecycle is init → start → pause → resume → stop → restart.
bridge/app/main.py ECM — capability dispatch
NavigateECM v2 receives a structured intent from the planner; the v1/v2 dispatcher pattern picks the right handler with stable fallback_reason if v2 raises. v2 calls into the G1 robot's apply_twist.
bridge/app/ecm/navigate.py Governance — policy & audit
Capability admission, policy DSL check, watcher registration. Persona engine evaluates the resulting PersonaAdaptiveEvent stream; tighten events emit through the Ed25519 audit chain. Outbox pattern guarantees at-least-once delivery.
src/aeros/runtime/persona_emit.py · semantic_consolidator.py Embodiment — ONNX policy + joint command
An ONNX-controller class receives a TwistCommand; the vendored G1 locomotion policy (~880 KB) computes joint torques; MuJoCo steps the simulation. The same controller class plugs into the real-robot bridge in v0.11.0.
Run the same demo locally
Three commands. MuJoCo renders a window; the G1 walks; tests pass. Same code path the video shows.
git clone https://github.com/s20sc/aeros-runtime cd aeros-runtime make hello # expected: STEP 6 identity-preservation PASS # STEP 7 G1 navigates ≥0.4m