zap-heavy-fo-guang · fo-guang robotics profile
Fo Guang.
A humanoid robotics workbench in one template. zap-heavy-fo-guang overlays zap-heavywith the Unitree G1 sim2sim stack: MuJoCo Playground MJX/PPO training, ONNX policy playback, the God's Eye View telemetry bridge, and ABot-Recon reconstruction from the G1 head camera.
zap harness bake zap-heavy-fo-guang # plan-only
zap harness doctor zap-heavy-fo-guangcreateRuntime({
weight: "heavy",
plugins: [box({ template: "zap-heavy-fo-guang", size: "large" })],
})The pipeline
Train, play back, stream, reconstruct.
One bake wires the full loop: a policy trained in simulation walks the G1, its telemetry streams out as RobotFrames, and the head camera feeds a dense 3D reconstruction — all inside the sandbox boundary.
- 01
Train the policy
MuJoCo Playground trains a G1 joystick policy with MJX/PPO on flat and rough terrain, then exports it to ONNX.
- 02
Play back sim2sim
The exported ONNX policy drives the G1 in the sim2sim player — a step that runs fine on CPU-only boxes.
- 03
Stream telemetry
The God's Eye View bridge streams RobotFrames over a UNIX socket — inbound-only, with robot /command and /map disabled.
- 04
Reconstruct the scene
ABot-Recon rebuilds dense 3D structure from the G1 head camera, with CPU inference and optional INT8 quantization.
GPU trains, CPU replays
The bake detects the box and layers CUDA only where it helps.
bake.sh probes nvidia-smi and layers jax[cuda12] only on GPU boxes; FO_GUANG_CPU_ONLY=1 (or =0) overrides. MJX/PPO training needs the GPU lane; sim2sim playback and ABot-Recon inference run CPU-only, and the mode is recorded in ~/.zap/template.json.
gpu box
Full workbench: MJX/PPO training, ONNX export, sim2sim playback, telemetry, and reconstruction.
jax[cuda12] layered over Playground's CPU JAX pin
cpu-only box
Replay and reconstruct: sim2sim playback of an exported policy plus ABot-Recon CPU inference, where INT8 quantization trades weight memory, not time.
cpuOptimized: true · no CUDA step
Invariants
Inbound-only telemetry. Nothing secret is ever baked.
The overlay follows the same discipline as the rest of Zap: it is an overlay of zap-heavy (no named snapshot), every cloned repo and wheel is pinned and recorded, and zap harness doctor verifies the whole install — including that no credential landed on disk.
Inbound-only telemetry
The bridge streams RobotFrames out to God's Eye View over a UNIX socket. Robot /command and /map stay disabled.
no hosted ports
No baked secrets
GEV_ROBOT_INGEST_TOKEN and friends arrive at runtime through the BYOK/env allowlist only — never in the template or snapshot.
byok · runtime-only
Pinned and recorded
MuJoCo Playground, God's Eye View, and ABot-Recon are cloned at pinned refs; every ref and wheel version is written to ~/.zap/template.json.
recorded refs
Start with zero side effects.
Bake is plan-only by default and doctor never spends. Nothing acquires a sandbox until you say so.
zap harness bake zap-heavy-fo-guang # plan-only
zap harness doctor zap-heavy-fo-guang