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For the complete documentation index, see llms.txt. This page is also available as Markdown.

v1.0.x

v1.0.1

Covers all v1.0 patch releases including initial launch and bug fixes.

v1.0.1

  • Unified single and multi modes

  • Improved mode switching stability

v1.0.0

What's included

This release significantly expands OM1’s autonomy, simulation, and deployment capabilities. Key highlights include full Gazebo simulation support, full autonomy for Unitree G1, over-the-air (OTA) updates, improved localization accuracy, and major runtime and ML stack upgrades. Developer experience has been enhanced through hot reload, configuration versioning, and expanded documentation.

Development Section

A new Development section has been added to the documentation to help developers quickly get started with:

  • Environment setup

  • Building the runtime

  • Running and testing OM1 locally

This reduces onboarding time and standardizes development workflows.

Hot Reload

Hot reload support has been added to accelerate development cycles:

  • Resolved dependencies are reused after the first run

  • Runtime configuration is persisted in .runtime.json5

  • Enables seamless restarts and agent switching without full reinitialization

Pydantic-Based Configuration

Refactored the action connector architecture to improve type safety, extensibility, and maintainability by introducing Pydantic-based configurations and stronger generic typing. Added connector-specific config models and enhanced documentation with detailed docstrings for improved clarity and validation.

Simulation & Testing

Gazebo Simulation Support

OM1 now provides full Gazebo simulation support for Unitree Go2, including:

  • SLAM

  • Navigation

  • Auto charging

This allows users to test OM1 without physical hardware, enabling faster iteration and safer experimentation.

Autonomy & Navigation

Unitree G1 – Full Autonomy Support

OM1 now supports full autonomy for Unitree G1, including:

  • Facial detection and anonymisation

  • 3D SLAM map generation

  • Autonomous navigation

Context-Aware Mode Transitions

OM1 now supports context-aware mode transitions, enabling autonomous switching between modes without human intervention.

LiDAR Localization Improvements

Localization accuracy has been improved through enhanced LiDAR-based localization.

AI & Machine Learning

Local LLM Support on Thor

Added support for local large language models (LLMs) on Thor, featuring:

  • OM1 now supports Qwen3-30B local LLM

  • 3.2-second response timeout

  • Arbitration between cloud and local responses

  • Local LLM determines the final response when both are available

ML Stack Migration

The machine learning stack has been migrated to Thor (Jetson 7.0):

  • AGX remains supported, but with limited capabilities

Deployment & Operations

Over-the-Air (OTA) Updates

Introduced full support for over-the-air updates, enabling users to seamlessly upgrade to the latest runtime versions. Configurations now allow smooth version management and automated deployment of updates.

Configuration Version Management

Configuration files now include a mandatory version field to ensure compatibility as the runtime evolves.

Runtime Version Upgrade

The runtime has been upgraded to the latest version, improving:

  • Performance

  • Stability

  • Maintainability

Known Issues

Avoid running the OM1 container when exploring full autonomy on Unitree Go2. Run via uv run src/run.py unitree_go2_autonomy_advance.

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