Skill · Unitree G1
Two-arm choice
Two pathways, two arms: whichever pathway the neurons answer on, that arm rises.
Runs on the Unitree G1 · Humanoid
01 Pathways
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 two.
“right”
- 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” is ON.
“left”
- Pulse electrode
- 50at 10 Hz
- Read electrodes
- 41 42 43 49 51 57 58 59
- ON at
- 0.6spikes per electrode per 100 ms
We pulse electrode 50 at 10 Hz. When electrodes 41, 42, 43, 49, 51, 57, 58 and 59 average at least 0.6 spikes per 100 ms, and twice the rate of the rest of the array, “left” 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”
- right shoulder pitch
- −2.2 rad
- right shoulder roll
- −0.5 rad
- right elbow
- 0.3 rad
Target pose “left”
- left shoulder pitch
- −2.2 rad
- left shoulder roll
- 0.5 rad
- left elbow
- 0.3 rad
03 The test
Moves only while cued.
Pulse ‘right’ 1–3 s, then ‘left’ 4–6 s: each arm rises only during its own window.
It passes when
- 01Right arm up in its window
- 02Left arm down in right window
- 03Left arm up in its window
- 04Right arm down in left window
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.
- 01Raise right arm1 pathway · 6 s testRaise the right arm only while the “right arm” pathway of the neurons is ON.
- 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 “Two-arm choice” on the Unitree G1.
Choose a biocomputer, launch, and watch it calibrate, train and validate.