A body that chooses where to be.
The arm never moves its base and the forklift follows a fixed route. This one decides where to stand — in the forklift's own factory, with the forklift's own lane between the table the cartons arrive on and the table they go to. The body is Unitree's G1, simulated in MuJoCo, its legs and waist on NVIDIA GR00T's walking and balancing policies. Every second System 1 is asked what to do with what the head camera can see, and the body acts on the answer.
Simulated factory — the forklift playground's — with the body, the cartons, the tables and the forklift in MuJoCo (Google DeepMind, Apache-2.0); not a sim-to-real result · the robot is Unitree Robotics' G1: its body as shipped in NVIDIA's GR00T-WholeBodyControl (Apache-2.0), its hands Unitree's rubber hands as MuJoCo Menagerie has them (BSD-3-Clause, licence) · the legs and waist run GR00T-WholeBodyControl's Walk and Balance policies: Licensed by NVIDIA Corporation under the NVIDIA Open Model License (Agreement, notice) · the arms, the grip and the order of the job are this page's executor; the judgment is System 1's · the head camera's object classes come from a rendered mask standing in for a segmentation model · the vehicle is NVIDIA's Isaac Sim Forklift C, used here for research · the System 1 layer runs on the decision model chosen above, through OpenRouterForklift playground ↗