{
  "schema": "oblique-asimov-policy-bundle/v1",
  "checkedAt": "2026-10-23",
  "walking": {
    "repo": "Menlo/asimov1-locomotion-26-10-17-upper-body-blind",
    "revision": "27459ac89c0eca7a85d21ee5a88f7628003057d0",
    "sha256": "14cafb5a156f317ea083192fbce46e91f6cbc5360225c884b6783388cf1db300",
    "source": "https://huggingface.co/Menlo/asimov1-locomotion-26-10-17-upper-body-blind",
    "license": "BSD-3-Clause"
  },
  "recovery": {
    "source": "https://github.com/openhorizon-labs/asimov-v1-policies",
    "weights": "https://huggingface.co/openhorizon-labs/asimov1-getup-safefall",
    "codeCommit": "18c2213ed12b67436e9b6fa2c69288255d3fc9a8",
    "weightsRevision": "e9f3510d9c6d2f7dde6e4ba194a86a7c926f9679",
    "license": "Apache-2.0"
  },
  "robot": {
    "source": "https://github.com/menloresearch/asimov-1",
    "commit": "35ae7b3581ce36762bfddb00b8fc5e7c957ee7fa",
    "license": "CERN-OHL-S-2.0 hardware / GPL-2.0 software"
  },
  "modelVersion": "oblique-fullbody-oct17-recovery-1",
  "assumptions": [
    "Simulation only; no hardware validation.",
    "Latest Menlo Oct17 walking: 12 leg actions, 45 observations; upper body held by PD.",
    "OpenHorizon recovery: 23 actions, 375 observations; term-major five-frame history.",
    "One fixed model uses Oct17 armatures throughout. Recovery transfer to that model is tested separately.",
    "OpenHorizon training collision overlay; backyard geometry and friction are estimates.",
    "Zero injected sensor/action delay; no training noise.",
    "No external balance assistance or root animation. Push tests apply a recorded external force.",
    "No stair-climbing or grasp policy; pickups remain scripted."
  ],
  "files": {
    "MENLO-LICENSE.txt": "eecf3970c7f66bbd6cb983b4530b06491360558d7bb494d41de81ff32c39a06c",
    "RECOVERY-LICENSE.txt": "cfc7749b96f63bd31c3c42b5c471bf756814053e847c10f3eb003417bc523d30",
    "RECOVERY-NOTICE.txt": "5c2a0c356454c6a52f80b1cec13a2f43d95bc064f7dd8c7798b43578d1d739a9",
    "VIEWER-LICENSE.txt": "8862e981b2b0fdead92b8a9f0adefa8e1d0b9fd190da9567df880c9b5a3c9f3d",
    "fallen-poses.json": "df9b9a1bd61cd93284fbd6d08d79ba5a2f25384f6501342d4a4633e05264cc7a",
    "getup.json": "d14a63107d900b9cfa0bceac6d0e8d0e28fedaa6234fca29c9ef63a03b06137c",
    "getup.onnx": "aa43dfcbae7bdee333c97202b6159642c4c6ad0612ba85b853a7952d6ef6c717",
    "model.xml": "40b581499280c1ec6f3ac6783e8b94e8a72c257f5ff066798ba0307d8a22e65f",
    "safefall.json": "0894d21f72e154f1c37908999d1e42560dbf6d05b83dd82dc4519f316f8c15bb",
    "safefall.onnx": "6501dc58a39ada41517acd64af941a0e2b076418d96b28de1a3155ebd51d6dae",
    "walking-env.yaml": "6f7f2da0abcc203b9f07c35393ecb993781d0b0424199ab67c5cc0451a4879cd",
    "walking.json": "e6f70aaf5c4a3c2177d84bc0e28d4bd05a82adcfb287ac35ed245cb7d59c1028",
    "walking.onnx": "14cafb5a156f317ea083192fbce46e91f6cbc5360225c884b6783388cf1db300"
  }
}