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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.

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Features

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v1.0.0

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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.

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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

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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.

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Simulation & Testing

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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.

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Autonomy & Navigation

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Unitree G1 – Full Autonomy Support

OM1 now supports full autonomy for Unitree G1, including:
  • Facial detection and anonymisation
  • 3D SLAM map generation
  • Autonomous navigation

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Context-Aware Mode Transitions

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

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LiDAR Localization Improvements

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

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AI & Machine Learning

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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

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ML Stack Migration

The machine learning stack has been migrated to Thor (Jetson 7.0):
  • AGX remains supported, but with limited capabilities

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Deployment & Operations

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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.

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Configuration Version Management

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

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Runtime Version Upgrade

The runtime has been upgraded to the latest version, improving:
  • Performance
  • Stability
  • Maintainability

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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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Docker image

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Setup the API key

For Bash: vim ~/.bashrc or ~/.bash_profile. For Zsh: vim ~/.zshrc. Add 
export OM_API_KEY="your_api_key"
Update the docker-compose file. Replace “unitree_go2_autonomy_advance” with the agent you want to run. 
command: ["unitree_go2_autonomy_advance"]
The OM1 service is provided as a Docker image for easy setup: 
cd OM1
docker compose up om1 -d --no-build
The docker image is also available at Docker Hub. For more technical details, please refer to the docs.