Current checkpoint
01 · SHUFFLE
C-1N drives two position-controlled hinges per leg from a shared gait phase, torso-orientation feedback, and foot-contact checks. The coordination exists in joint space; sustained locomotion does not.
Observed boundary
Forward motion is not sustained
In this 12-second native rollout, the torso moves 6.7 cm forward but drops 30.0 cm. This failure is preserved as a checkpoint to explain, not hidden behind a walking claim.
Checkpoint rule
Number the evidence
Public checkpoints use C-1N // NN · CODENAME. The number preserves chronology; the codename records the capability or understanding gained at that boundary.
Live browser simulation
Run C-1N in MuJoCo
This page loads the pinned model for C-1N // 01 · SHUFFLE and runs the phase-shared gait controller against live MuJoCo physics in your browser. Reset creates a fresh simulation state.
20 s history · time →
Drag to orbit. Right-drag or use two fingers to pan. Scroll or pinch to zoom. Follow C-1N tracks the live torso until you move the camera yourself.
- Simulation time
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- Torso x
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- Torso height
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- Contacts
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- Roll / pitch
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- Representative torque
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Live telemetry
Signals from the current checkpoint
Each graph keeps the latest 20 seconds of MuJoCo state. The horizontal axis is time. Reset clears the sample history.
Runtime: the first-party MuJoCo JavaScript bindings ↗, pinned to v3.11.0. Model and controller: the canonical C-1N repository ↗ (legacy slug).
Checkpoint lineage
The robot should make its own evolution inspectable.
C-1N is the integration point. The Robotics Test Bench remains the place to isolate a physical question and update the mental model. A checkpoint is created only when a capability or understood failure is worth preserving and comparing with prior behavior.
- C-1N // 00 · STAND — motor-assisted standing baseline.
- C-1N // 01 · SHUFFLE — current coordinated gait failure.
- C-1N // 02 · FRAME — reserved for the task-space instrumentation boundary after the Jacobians/task-space bench experiment closes.
- C-1N // 03 · STRIDE — reserved for the first materially better walk. It is not a completed checkpoint yet.