Skill · Unitree G1
Raise right arm
Raise the right arm only while the “right arm” pathway of the neurons is ON.
Runs on the Unitree G1 · Humanoid
01 Pathway
How the neurons drive it.
A pathway is one cue: the electrode we pulse, the electrodes we read, and the rule that decides when it is ON. This skill has one.
“right arm”
- Pulse electrode
- 13at 10 Hz
- Read electrodes
- 5 6 12 14 20 21 22
- ON at
- 0.6spikes per electrode per 100 ms
We pulse electrode 13 at 10 Hz. When electrodes 5, 6, 12, 14, 20, 21 and 22 average at least 0.6 spikes per 100 ms, and twice the rate of the rest of the array, “right arm” is ON.
These are the skill file’s starting electrodes, numbered column by column across the 8 × 8 array. Calibration moves each pathway onto electrodes your culture actually answers on and raises its ON threshold above resting noise.
02 Movement
What the Unitree G1 does.
Target pose “right arm”
- right shoulder pitch
- −2.4 rad
- right elbow
- 0.3 rad
03 The test
Moves only while cued.
Pulse ‘right arm’ from 1 s to 4 s: the arm should rise only while pulsed.
It passes when
- 01Arm rises while pulsed
- 02Arm rests before pulses
- 03Arm returns after pulses
04 Proof
Proof it is the neurons.
Validation replays this test three times on the same spontaneous activity. The skill counts only if it passes with stimulation and fails under both controls; if it also passes without the neurons, it is marked invalid.
05 More skills
More for the Unitree G1.
- 01Two-arm choice2 pathways · 7 s testTwo pathways, two arms: whichever pathway the neurons answer on, that arm rises.
- 02Look toward activity (watch-only)Watch-onlyNo stimulation: the robot turns toward whichever half of the array is more active.
- 03Wave hello1 pathway · 6 s testThe right arm goes up and the forearm swings side to side only while “wave” is ON.
Unitree G1
Train “Raise right arm” on the Unitree G1.
Choose a biocomputer, launch, and watch it calibrate, train and validate.