COMMUNITY CREDITS + LICENSES
Built on shared work.
This lab is possible because robotics researchers and open-source contributors share their work. Thank you to Menlo Research, OpenHorizon Labs and the Physical AI & Robotics Lab at Galgotias University, Ma-Dan, the MuJoCo, Three.js and ONNX Runtime communities, and Younghyo Park / Improbable AI.
Oblique Research LLC contributes the backyard reconstruction, application integration, task workflows and evaluation interfaces. The robot design, learned walking policy and underlying tools come from the projects credited below. Their authors retain their rights and license terms; this independent prototype is not an official Menlo product.
| Project & contribution | License / provenance | Source and notices |
|---|---|---|
| Menlo Research · Asimov 1 Robot design, meshes, joints and simulation model | CERN-OHL-S-2.0 hardware / GPL-2.0 software. Simulation-file scope follows the upstream terms. | Menlo source ↗ · Hardware license · Software license · Source & modifications ↓ |
| Menlo Research Pte. Ltd. · Asimov 1 locomotion Latest October 17 checkpoint, trained with Cyclotron; 12 leg actions on the articulated 23-joint robot | BSD-3-Clause, as declared by the upstream model card. The demo supplies independent upper-body hold targets; these targets are not output by the walking checkpoint. | Checkpoint and model card ↗ · Training source ↗ · BSD-3-Clause license · Pinned source and adaptation notes |
| OpenHorizon Labs · Asimov 1 get-up and safe-fall Learned recovery controllers; Physical AI & Robotics Lab, Galgotias University | Apache-2.0 for OpenHorizon code and policies. © 2026 OpenHorizon Labs and the Physical AI & Robotics Lab, Galgotias University. The Asimov model retains its separate GPL-2.0 / CERN-OHL-S-2.0 terms. | Policies and model card ↗ · Apache-2.0 license · Copyright notice · Pinned source |
| Ma-Dan · asimov_1_train Legacy walking checkpoint and controller source, retained in the shared Microduck scene | Pinned community training repository. The adapted controller also retains notices for NVIDIA, ETH Zurich / Nikita Rudin, Beijing RobotEra and AgiBot. Code contains BSD-3-Clause notices; explicit checkpoint license coverage is awaiting clarification. | Pinned source ↗ · Attribution & hashes |
| Menlo Research · menlo-sdk 0.1.0 Python SDK used by local and hosted simulation adapters | Apache-2.0. Oblique supplies a custom simulation transport; the browser adapter is separate. No Menlo firmware or physical robot connection is included. | SDK source ↗ · License · Companion source ↓ |
| Pollen Robotics · Microduck simulator Robot meshes, kinematics, stand-up and walking policies; adapted observation/recovery loop | Simulator code: Apache-2.0. Model meshes and display LOD: CC BY-NC-SA-4.0. Separate policy-weight license not stated in the pinned snapshot. Local research use; commercial redistribution needs review. | Upstream simulator ↗ · Code license · Model terms · Pinned sources and modifications |
| MuJoCo contributors · 3.17.0 Physics, joint dynamics and contacts | Apache-2.0 | Source ↗ · License |
| Three.js authors · 0.186.1 Browser rendering and model loading | MIT | Source ↗ · License |
| Microsoft / ONNX Runtime contributors · 1.30.0 Browser policy inference | MIT, with applicable third-party notices | Source ↗ · License · Upstream notices |
| Backyard reconstruction and photographs | Owner-authorized materials. Not licensed as open source by this page. | Photo provenance · Source evidence |
| Younghyo Park / Improbable-AI · VisionProTeleop Head/hand teleoperation protocol, used in the separate native app | Improbable-AI VisionProTeleop · MIT | Source ↗ · License |
| LiveKit contributors · JavaScript client 2.23.0 Live video, telemetry and remote command transport | Apache License 2.0 | Source ↗ · License · Dependency notices |
| LiveKit Python SDK 1.1.21 and aiohttp 3.14.5 Hosted simulation command service | LiveKit: Apache-2.0. aiohttp: Apache-2.0 AND MIT. Pinned dependencies retain their individual licenses. | LiveKit source ↗ · aiohttp source ↗ |
What we are adding
The aim is to contribute useful environments, reproducible tests and honest failure reports to the robotics community. Share feedback on a test, explore the upstream repositories, or inspect the source package to see how the robot assets were adapted.
Modified robot materials
Local modifications include mesh simplification/export, estimated backyard collision geometry, browser controller adaptation and checkpoint conversion. The source package includes the pinned robot sources, conversion/build inputs, distributed model derivatives and a dated change record. Original application work is not relicensed by its inclusion alongside these materials.
Read modification and provenance notes
Experimental controllers
The latest Menlo walking checkpoint and OpenHorizon recovery checkpoints run through an Oblique browser adapter in MuJoCo. They are not Asimov Edge firmware, and this integration has not been validated on a physical robot. The legacy Ma-Dan controller remains in the shared Microduck scene; its separate checkpoint license coverage still needs clarification. Model, code, policy and image licenses remain distinct.