Skill · Unitree G1
Wave hello
The right arm goes up and the forearm swings side to side only while “wave” 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.
“wave”
- Pulse electrode
- 14at 10 Hz
- Read electrodes
- 5 6 13 15 21 22 23
- ON at
- 0.6spikes per electrode per 100 ms
We pulse electrode 14 at 10 Hz. When electrodes 5, 6, 13, 15, 21, 22 and 23 average at least 0.6 spikes per 100 ms, and twice the rate of the rest of the array, “wave” 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.
Upper arm out to the side, forearm pointing up.
Target pose “hand up”
- right shoulder roll
- −1.5 rad
- right shoulder yaw
- −1.6 rad
- right elbow
- 0 rad
The wave itself: swing the elbow around the raised pose, scaled by how strongly the pathway is ON.
03 The test
Moves only while cued.
Pulse ‘wave’ from 1 s to 4 s: the arm should rise and wave only while pulsed.
It passes when
- 01Hand up while pulsed
- 02Forearm swings while pulsed
- 03Arm rests before pulses
- 04Arm 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.
- 01Raise right arm1 pathway · 6 s testRaise the right arm only while the “right arm” pathway of the neurons is ON.
- 02Two-arm choice2 pathways · 7 s testTwo pathways, two arms: whichever pathway the neurons answer on, that arm rises.
- 03Look toward activity (watch-only)Watch-onlyNo stimulation: the robot turns toward whichever half of the array is more active.
Unitree G1
Train “Wave hello” on the Unitree G1.
Choose a biocomputer, launch, and watch it calibrate, train and validate.