v1.1: 闪身步 Pro (e24_0355000, spin-and-landing dance)

闪身步 Pro / spin-and-landing dance on the real G1.

e24_0355000 ran shanshen_duosuomao_lean35kfs_pad2 (21.9 s, two fast spins and a jump with a one-foot landing) from the first frame to the last on our real Unitree G1, in two runs in a row (ground stage, safety rope attached). Before it, every real run of 9 earlier checkpoints on this dance aborted. One checkpoint, two runs, no ablation: see docs/REAL_ROBOT_LEAN35KFS.md for the failures, the fixes, which sim gates predict the real robot, and the deploy command.

Assets

• e24_0355000_lean35kfs.tar.gz: extract at the repository root. Contains deploy_artifacts/e24_0355000/ (policy.onnx is ONNX IR 9 and runs on PC2 as is, policy_ir10.onnx, deploy_config.json, SHA256SUMS), deploy_artifacts/ckpts/e24_0355000.pt, the clip goal table deploy_artifacts/clips/shanshen_duosuomao_lean35kfs_pad2.npz, the training clip / library / real-reset states under data/, and the runner log of the first successful run under deploy_logs/real/. This model is fine-tuned on this one clip only; it is not a general tracker.
• shanshenbu_pro_real_robot.mp4: demo video (left: human source video, right: real G1).
• SHA256SUMS: checksums of all release files (v1.0 and v1.1).

Training recipe: scripts/train/train_lean35kfs_e24.sh (its parent checkpoint is not released). Sim2sim gate: scripts/train/gate_lean35kfs.sh. All new training options are opt-in and off by default.

Safety: the real-robot code drives the motors directly. Follow docs/DEPLOY_G1.md, keep the rope attached and the remote in hand. Use at your own risk.