HumanRobo is a Federated AI Development Environment for the Unitree H1 Humanoid Robot (1.8m, 51-DOF), targeting the defense market. It integrates high-fidelity physics, 2026 SOTA World Models, and a multi-agent orchestration layer to build a robust, "un-crashable" simulation-to-real stack.
Gemini CLI acts as the Master Orchestrator, coordinating a swarm of specialized agents:
| Agent | Role | Status |
|---|---|---|
| Gemini CLI | Master Brain | Orchestrating architecture, physics audits, and SOTA model deployment. |
| OpenCode | Workspace Manager | Managing MATLAB-MCP connectivity and project records. |
| Goose | Tuning Specialist | Background iterative PID/Impedance optimization. |
| Claude Code | Surgical Coder | Complex function refactoring (C++/Python). |
| Gemini Swarm | Monitoring Hive | 3-agent hive tracking IMU stability and foot forces. |
| Graphifyy | Knowledge Map | Context-compressed navigation of project files. |
| Ruflo | Global Memory | Shared state and fact synchronization across all agents. |
Utilizing Masked-HWM (Humanoid World Model) and WM4A (World Model for Action) standards for predictive locomotion.
- World Model: StarVLA WM4A (14GB weights) conditioned on 25-dimensional actions.
- Vision Tokenizers: NVIDIA Cosmos DV 8x8x8 encoding (256px -> 32x32 latents).
- Physics: MuJoCo Physics (1000fps) for locomotion.
- Environment: RoadRunner for precision defense terrain mapping.
- Primary Model:
google-gemini-cli/gemini-3.1-pro-preview. - Nervous System: ROS 2 Jazzy (WSL Ubuntu 24.04 bridge).
- Bridge: MATLAB / Simulink / Robotics System Toolbox.
- Hardware Targets: Unitree H1, Unitree G1, PAL TALOS.
- Launch Stack:
h1_ros_mujoco_bridge.py(WSL Body). - Brain Sync:
h1_matlab_ros_connect.m(MATLAB Brain). - Execution:
h1_balance_stand_controller.m(Neural Link).
Status: PHASE 11 - ZERO-SHOT READY Created and maintained by the HumanRobo Agentic Swarm.