Gait Labs

Learning to walk.

A Unitree G1 trains in public on real physics. Every step it takes, and every fall, goes on the record.

Watch it learn Follow @GaitLabs
Generation
000
Stage
S0
Survival
0.0%
Feed
reading

Zero hours of experience.

Generation 0 has never trained. Every motor holds the same bent-knee pose, and gravity does the rest.

0trained generations so far

It falls after 0.88 s.

You are watching the published recording of that attempt, replayed on real physics in your browser. Each pale figure is an earlier moment of the same fall.

3 / 3evaluation episodes end in a fall

29 joints. 29 seats.

Each glowing point is a joint, and each joint is a seat. Burn $GAIT to hold one, then set how much torque it gets in the next generation.

See the joints

Every generation, on the record.

The policy, three recordings and the metrics ship with a sha256 for each file. A contract on Robinhood Chain will keep every manifest hash for good.

manifest sha256f2d0a310e0dd9caea059…

The run, right now.

Read from the published feed every 30 seconds. Nothing on this panel is typed in by hand.

Survival by generation 

 

Generation
 
Stage
 
Survival
 
Longest episode
 
Mean distance
 
Trainer
 
  1. S0Stand
  2. S1Walk
  3. S2Rough ground
  4. S3Turn
  5. S4Run
  6. S5Get up
  7. S6Take a push

Reading the published feed.

Open the console

From GPU to chain.

Four steps run for every generation, and each one leaves something you can check.

Train

PPO on a rented RTX 4090, with 8,192 copies of the robot stepping in parallel.

brax 0.14.2, 10M steps per generation

Evaluate

The exported policy runs 100 episodes in plain C MuJoCo on fixed seeds, away from the training code.

20 s episodes, 50 Hz, no noise

Publish

The policy, three recordings and the metrics go out as files, each with its sha256.

manifest.json, policy.onnx, rollout-*.bin

Record

The manifest hash lands on Robinhood Chain, where nobody can edit it afterwards.

GaitLedger, chain 4663, at launch

joints you can hold.

Whoever has burned the most $GAIT into a joint holds it and sets its torque between 0.70 and 1.00. The next generation trains on that body, and its gait has to adapt.

See the joints
Joint anchors from the model, pose home

$GAIT launches soon.

Seats open when the token goes live on Robinhood Chain. The contract address goes out on X first.

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