stand
ticks 0–49 · midpoint 24 · 50 ticks / 1.00 s
Decoupled WBC
Real public GR00T WholeBodyControl run inside the MuJoCo-backed G1 showcase, driven by the same staged locomotion script used for the velocity-only cards. This page keeps the full charts, playback, and downloadable artifacts.
Decoupled WBC
NVIDIA GR00T · Lower-body RL locomotion with default upper-body posture
decoupled_wbc
BAD REAL MUJOCO SIM VELOCITY_SCHEDULE
Real public GR00T WholeBodyControl run inside the MuJoCo-backed G1 showcase, driven by the same staged locomotion script used for the velocity-only cards.
Robotunitree_g1_decoupled_wbc
Ticks405
Avg inference0.189 ms
Achieved rate42.90 Hz
Embedded Rerun viewer
Fetches
run.rrd lazily when the viewer enters the viewport.
Preparing interactive view
Loads the viewer runtime and recording on demand when visible.
Case key
decoupled_wbc
Policy family
decoupled_wbc
Command kind
velocity_schedule
Expected behavior
Lower-body RL locomotion with default upper-body posture
Showcase transport
MuJoCo sim
Embodiment
assets/robots/groot_g1_decoupled_wbc/g1_29dof_old.xml
MuJoCo model variant
upstream-mjcf+ground-plane
Command data
[1.000, 0.000, 0.000, 0.000, 0.000, 0.000, ...]
Checkpoint source
Published GR00T WholeBodyControl ONNX checkpoints
Demo family
Velocity tracking
Demo sequence
Stand, accelerate from 0.0 to 0.6 m/s over 2 s, command a 90 degree right turn over 1 s, accelerate into a 1.0 m/s run over 3 s, then settle back to stand.
Model artifact
models/decoupled-wbc/GR00T-WholeBodyControl-Walk.onnx
Command source
runtime.velocity_schedule
First target frame
[-0.156, 0.021, -0.015, 0.426, -0.147, 0.021, ...]
Last target frame
[-0.366, 0.134, -0.030, 0.681, 0.158, 0.016, ...]
Quality verdict
BAD
Verdict basis
achieved rate 42.9 Hz < 45
Mean joint error
0.049 rad
Joint error p95
0.205 rad
Peak joint error
0.947 rad
Min base height
0.730 m
Frames height < 0.4 m
0
VX RMSE
0.168 m/s
Yaw RMSE
0.375 rad/s
Heading change
-77.8 deg
Forward distance
4.074 m
Rerun recording · JSON summary · run log · Proof-pack manifest · configs/showcase/decoupled_wbc_real.toml
Phase review
The proof pack follows the authored phase timeline directly, so the staged locomotion story reads as stand → accelerate → turn → run → settle instead of generic checkpoint archaeology.
accelerate
ticks 50–149 · midpoint 99 · 100 ticks / 2.00 s
turn
ticks 150–199 · midpoint 174 · 50 ticks / 1.00 s
run
ticks 200–349 · midpoint 274 · 150 ticks / 3.00 s
settle
ticks 350–399 · midpoint 374 · 50 ticks / 1.00 s
Target timestamp selector
Actual / robot timestamp selector
stand
Midpoint capture at tick 24; phase-end review anchored at tick 49.
Midpoint
Phase End
Debug metadata
Static tick and asset-path contract for manual debugging without driving the browser controls.
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accelerate
Midpoint capture at tick 99; phase-end review anchored at tick 149.
Midpoint
Phase End
Debug metadata
Static tick and asset-path contract for manual debugging without driving the browser controls.
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turn
Midpoint capture at tick 174; phase-end review anchored at tick 199.
Midpoint
Phase End
Debug metadata
Static tick and asset-path contract for manual debugging without driving the browser controls.
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"lag_ms": 100.0,
"lag_ticks": 5,
"relative_dir": "roboharness_run/trial_001/turn_end_tick_0199/target_lag_5",
"selection_reason": "turn target pose sampled at +5 ticks from phase end",
"sim_time_secs": 4.079999999999773,
"tick": 204
}
],
"timeline": {
"duration_secs": 1.0,
"duration_ticks": 50,
"end_tick": 199,
"midpoint_tick": 174,
"start_tick": 150
}
}
run
Midpoint capture at tick 274; phase-end review anchored at tick 349.
Midpoint
Phase End
Debug metadata
Static tick and asset-path contract for manual debugging without driving the browser controls.
{
"actual_variants": [
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 349,
"frame_source": "canonical_replay_trace",
"lag_ms": 0.0,
"lag_ticks": 0,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/lag_0",
"selection_reason": "run phase end actual response at +0 ticks",
"sim_time_secs": 6.979999999999453,
"tick": 349
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 350,
"frame_source": "canonical_replay_trace",
"lag_ms": 20.0,
"lag_ticks": 1,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/lag_1",
"selection_reason": "run phase end actual response at +1 ticks",
"sim_time_secs": 6.999999999999451,
"tick": 350
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 351,
"frame_source": "canonical_replay_trace",
"lag_ms": 40.0,
"lag_ticks": 2,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/lag_2",
"selection_reason": "run phase end actual response at +2 ticks",
"sim_time_secs": 7.019999999999449,
"tick": 351
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 352,
"frame_source": "canonical_replay_trace",
"lag_ms": 60.0,
"lag_ticks": 3,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/lag_3",
"selection_reason": "run phase end actual response at +3 ticks",
"sim_time_secs": 7.039999999999447,
"tick": 352
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 353,
"frame_source": "canonical_replay_trace",
"lag_ms": 80.0,
"lag_ticks": 4,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/lag_4",
"selection_reason": "run phase end actual response at +4 ticks",
"sim_time_secs": 7.0599999999994445,
"tick": 353
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 354,
"frame_source": "canonical_replay_trace",
"lag_ms": 100.0,
"lag_ticks": 5,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/lag_5",
"selection_reason": "run phase end actual response at +5 ticks",
"sim_time_secs": 7.079999999999442,
"tick": 354
}
],
"default_review": {
"actual_frame_index": 352,
"actual_lag_ms": 60.0,
"actual_lag_ticks": 3,
"actual_relative_dir": "roboharness_run/trial_001/run_end_tick_0349/lag_3",
"actual_tick": 352,
"target_frame_index": 349,
"target_lag_ms": 0.0,
"target_lag_ticks": 0,
"target_relative_dir": "roboharness_run/trial_001/run_end_tick_0349/target_lag_0",
"target_tick": 349
},
"midpoint": {
"cameras": [
"track",
"side",
"top"
],
"frame_index": 274,
"frame_source": "canonical_replay_trace",
"lag_ms": 0.0,
"lag_ticks": 0,
"relative_dir": "roboharness_run/trial_001/run_midpoint_tick_0274",
"selection_reason": "run midpoint from the explicit phase timeline",
"sim_time_secs": 5.4799999999996185,
"tick": 274
},
"phase_end_anchor": {
"cameras": [
"track",
"side",
"top"
],
"frame_index": 349,
"frame_source": "canonical_replay_trace",
"lag_ms": 0.0,
"lag_ticks": 0,
"phase_end_tick": 349,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/lag_3",
"selection_reason": "run phase end with positive-lag actual-response review",
"sim_time_secs": 6.979999999999453,
"tick": 349
},
"phase_name": "run",
"target_variants": [
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 349,
"frame_source": "canonical_replay_trace",
"lag_ms": 0.0,
"lag_ticks": 0,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/target_lag_0",
"selection_reason": "run target pose sampled at +0 ticks from phase end",
"sim_time_secs": 6.979999999999453,
"tick": 349
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 350,
"frame_source": "canonical_replay_trace",
"lag_ms": 20.0,
"lag_ticks": 1,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/target_lag_1",
"selection_reason": "run target pose sampled at +1 ticks from phase end",
"sim_time_secs": 6.999999999999451,
"tick": 350
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 351,
"frame_source": "canonical_replay_trace",
"lag_ms": 40.0,
"lag_ticks": 2,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/target_lag_2",
"selection_reason": "run target pose sampled at +2 ticks from phase end",
"sim_time_secs": 7.019999999999449,
"tick": 351
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 352,
"frame_source": "canonical_replay_trace",
"lag_ms": 60.0,
"lag_ticks": 3,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/target_lag_3",
"selection_reason": "run target pose sampled at +3 ticks from phase end",
"sim_time_secs": 7.039999999999447,
"tick": 352
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 353,
"frame_source": "canonical_replay_trace",
"lag_ms": 80.0,
"lag_ticks": 4,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/target_lag_4",
"selection_reason": "run target pose sampled at +4 ticks from phase end",
"sim_time_secs": 7.0599999999994445,
"tick": 353
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 354,
"frame_source": "canonical_replay_trace",
"lag_ms": 100.0,
"lag_ticks": 5,
"relative_dir": "roboharness_run/trial_001/run_end_tick_0349/target_lag_5",
"selection_reason": "run target pose sampled at +5 ticks from phase end",
"sim_time_secs": 7.079999999999442,
"tick": 354
}
],
"timeline": {
"duration_secs": 3.0,
"duration_ticks": 150,
"end_tick": 349,
"midpoint_tick": 274,
"start_tick": 200
}
}
settle
Midpoint capture at tick 374; phase-end review anchored at tick 399.
Midpoint
Phase End
Debug metadata
Static tick and asset-path contract for manual debugging without driving the browser controls.
{
"actual_variants": [
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 399,
"frame_source": "canonical_replay_trace",
"lag_ms": 0.0,
"lag_ticks": 0,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/lag_0",
"selection_reason": "settle phase end actual response at +0 ticks",
"sim_time_secs": 7.979999999999343,
"tick": 399
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 400,
"frame_source": "canonical_replay_trace",
"lag_ms": 20.0,
"lag_ticks": 1,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/lag_1",
"selection_reason": "settle phase end actual response at +1 ticks",
"sim_time_secs": 7.999999999999341,
"tick": 400
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 401,
"frame_source": "canonical_replay_trace",
"lag_ms": 40.0,
"lag_ticks": 2,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/lag_2",
"selection_reason": "settle phase end actual response at +2 ticks",
"sim_time_secs": 8.019999999999348,
"tick": 401
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 402,
"frame_source": "canonical_replay_trace",
"lag_ms": 60.0,
"lag_ticks": 3,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/lag_3",
"selection_reason": "settle phase end actual response at +3 ticks",
"sim_time_secs": 8.039999999999354,
"tick": 402
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 403,
"frame_source": "canonical_replay_trace",
"lag_ms": 80.0,
"lag_ticks": 4,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/lag_4",
"selection_reason": "settle phase end actual response at +4 ticks",
"sim_time_secs": 8.059999999999361,
"tick": 403
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 404,
"frame_source": "canonical_replay_trace",
"lag_ms": 100.0,
"lag_ticks": 5,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/lag_5",
"selection_reason": "settle phase end actual response at +5 ticks",
"sim_time_secs": 8.079999999999368,
"tick": 404
}
],
"default_review": {
"actual_frame_index": 402,
"actual_lag_ms": 60.0,
"actual_lag_ticks": 3,
"actual_relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/lag_3",
"actual_tick": 402,
"target_frame_index": 399,
"target_lag_ms": 0.0,
"target_lag_ticks": 0,
"target_relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/target_lag_0",
"target_tick": 399
},
"midpoint": {
"cameras": [
"track",
"side",
"top"
],
"frame_index": 374,
"frame_source": "canonical_replay_trace",
"lag_ms": 0.0,
"lag_ticks": 0,
"relative_dir": "roboharness_run/trial_001/settle_midpoint_tick_0374",
"selection_reason": "settle midpoint from the explicit phase timeline",
"sim_time_secs": 7.479999999999398,
"tick": 374
},
"phase_end_anchor": {
"cameras": [
"track",
"side",
"top"
],
"frame_index": 399,
"frame_source": "canonical_replay_trace",
"lag_ms": 0.0,
"lag_ticks": 0,
"phase_end_tick": 399,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/lag_3",
"selection_reason": "settle phase end with positive-lag actual-response review",
"sim_time_secs": 7.979999999999343,
"tick": 399
},
"phase_name": "settle",
"target_variants": [
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 399,
"frame_source": "canonical_replay_trace",
"lag_ms": 0.0,
"lag_ticks": 0,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/target_lag_0",
"selection_reason": "settle target pose sampled at +0 ticks from phase end",
"sim_time_secs": 7.979999999999343,
"tick": 399
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 400,
"frame_source": "canonical_replay_trace",
"lag_ms": 20.0,
"lag_ticks": 1,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/target_lag_1",
"selection_reason": "settle target pose sampled at +1 ticks from phase end",
"sim_time_secs": 7.999999999999341,
"tick": 400
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 401,
"frame_source": "canonical_replay_trace",
"lag_ms": 40.0,
"lag_ticks": 2,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/target_lag_2",
"selection_reason": "settle target pose sampled at +2 ticks from phase end",
"sim_time_secs": 8.019999999999348,
"tick": 401
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 402,
"frame_source": "canonical_replay_trace",
"lag_ms": 60.0,
"lag_ticks": 3,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/target_lag_3",
"selection_reason": "settle target pose sampled at +3 ticks from phase end",
"sim_time_secs": 8.039999999999354,
"tick": 402
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 403,
"frame_source": "canonical_replay_trace",
"lag_ms": 80.0,
"lag_ticks": 4,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/target_lag_4",
"selection_reason": "settle target pose sampled at +4 ticks from phase end",
"sim_time_secs": 8.059999999999361,
"tick": 403
},
{
"cameras": [
"track",
"side",
"top"
],
"frame_index": 404,
"frame_source": "canonical_replay_trace",
"lag_ms": 100.0,
"lag_ticks": 5,
"relative_dir": "roboharness_run/trial_001/settle_end_tick_0399/target_lag_5",
"selection_reason": "settle target pose sampled at +5 ticks from phase end",
"sim_time_secs": 8.079999999999368,
"tick": 404
}
],
"timeline": {
"duration_secs": 1.0,
"duration_ticks": 50,
"end_tick": 399,
"midpoint_tick": 374,
"start_tick": 350
}
}
Diagnostics
Generic evidence checkpoints stay available as secondary diagnostics instead of the primary story.
start
initial state before meaningful motion
first_motion
first floating-base displacement >= 0.05 m (0.052 m)
fallback_mid_25
deterministic fallback at 25% of the replay because the evidence checkpoints collapsed to the same frame
fallback_mid_50
deterministic fallback at 50% of the replay because the evidence checkpoints collapsed to the same frame
furthest_progress
largest planar displacement from start (3.722 m)
