Self-host

Your GPU, our gate.

Generate on your own GPU with any model. NIUA checks the result against a contract, replays it in physics on CPU, and signs a receipt you can verify offline. Simulation only, no hardware tested

1. 01

   Your GPU

   Your generator, on your machine. The gate itself runs on CPU and spends nothing on GPUs. Hosted media generation is a separate, legacy paid add-on.

   niua-gpu generate motionbricks: runs on a GPU; idle clips pass after repair, walking: next

2. 02

   Artifact

   A G1 motion clip (niua.g1-motion/v1), a URDF bundle, a GLB prop or WAV audio.

   splat scenes: next

3. 03

   NIUA gate

   Contract checks plus a MuJoCo replay, on CPU. On ohao.tech, or on your server.

   niua-runner check

4. 04

   Signed receipt

   Ed25519 over the file hash and the contract. Anyone can verify it, offline.

   niua-runner verify

niua-runner, run for real

A real session against the production gate on 2026-10-15: the G1 clip passes motion.g1-safe@1, and the receipt verifies offline with the saved key.

$ niua-runner check fixed.csv --contract motion.g1-safe@1 --out receipt.json
PASS motion.g1-safe@1  fixed.csv
  receipt cb35bd7c-543d-4f80-a49b-eb291349e9b3  signature valid (checked here)  covers this file yes
  sha256 349ca008168b1c184dccf2df4f07e98b4972dd4ea2abdf0740ad575c8e7f6016
  wrote receipt.json  ·  anyone can re-check it: https://api.ohao.tech/api/v1/receipts/cb35bd7c-543d-4f80-a49b-eb291349e9b3

$ niua-runner verify receipt.json --file fixed.csv --keys keys.json
signature valid  key niua-receipt-2026-10  (offline, keys.json)
  pass motion.g1-safe@1  issued 2026-10-15T19:55:29Z  checker niua-gate/1.0.0
  fixed.csv sha256 349ca008168b1c184dccf2df4f07e98b4972dd4ea2abdf0740ad575c8e7f6016 matches the receipt

receipt cb35bd7c · verify it · fixed.csv · runner-run.json

Fixed before passing: raw.csv failed on joints.position_limits, joints.velocity_limits, contact.ground_penetration, feet.skate.

$ niua-runner check raw.csv --contract motion.g1-safe@1
FAIL motion.g1-safe@1  raw.csv  (6 to fix)
  joints.position_limits  waist_pitch_joint
    expected within [-0.5200, 0.5200] rad; got 0.7841 rad at 2.64 s
    fix: Keep the joint inside its range: clamp it, or retarget so the pose needs less of it.
  joints.position_limits  right_elbow_joint
    expected within [-1.0472, 2.0944] rad; got 2.1585 rad at 2.00 s
    fix: Keep the joint inside its range: clamp it, or retarget so the pose needs less of it.
  joints.velocity_limits  right_elbow_joint
    expected at most 37.0 rad/s (1× Unitree's 37 rad/s); got 50.1 rad/s at 2.00 s
    fix: Slow the move down (retime it), or remove the one-frame pop with a short median filter.
  contact.ground_penetration  left_ankle_roll_link
    expected no geometry deeper than 0.010 m into the floor; got 0.040 m deep at 1.00 s
    fix: Lift the root on those frames so the lowest foot point rests on the floor.
  feet.skate  left_ankle_roll_link
    expected a planted contact point (within 0.02 m of the floor) slides at most 0.2 m/s; got 0.34 m/s at 0.86 s
    fix: Lock the planted foot: remove the root drift on frames where the foot is on the floor.
  feet.skate  right_ankle_roll_link
    expected a planted contact point (within 0.02 m of the floor) slides at most 0.2 m/s; got 0.32 m/s at 0.88 s
    fix: Lock the planted foot: remove the root drift on frames where the foot is on the floor.

Get the runner

A Node CLI and a Docker image (node:22 with Python, MuJoCo and pyarrow for the dataset recipes, all on CPU). It sends your file to the gate you point it at and nowhere else; set NIUA_API_URL to use your own NIUA. niua-runner is proprietary and not published: customers get it from us, on request today.

export NIUA_API_KEY=...                                   # from the console
niua-runner check clip.csv --contract motion.g1-safe@1    # upload, check, verify the receipt locally
niua-runner keys --out keys.json                          # once
niua-runner contracts --out contracts.json                # once: the contracts NIUA publishes
niua-runner verify receipt.json --file clip.csv --keys keys.json --contracts contracts.json   # offline
niua-runner contracts motion.g1-safe@1                    # the exact rules that receipt met
niua-runner check arm.zip --contract urdf.sim-ready@1 --out receipt.json
niua-runner simulate receipt.json                         # sweep the robot's joints in MuJoCo, signed
docker run --rm -e NIUA_API_KEY -v "$PWD:/work" niua-runner check clip.csv --contract motion.g1-safe@1

Ask for niua-runner

Motion · live

The clip in the session, with its evidence.

Each claim opens to its evidence: a demo you can run, the file we used, and a signed receipt you can verify. Simulation only, no hardware tested

1. A humanoid clip passes a physics replay

   simulation only, no hardware tested

   A real NVIDIA Unitree G1 humanoid clip passes motion.g1-safe@1 in a MuJoCo physics replay, run on CPU: every joint inside its range and speed limit, feet on the floor without sliding, upright the whole time. Four mistakes we planted were fixed first, each from a failure NIUA named.

   Measured 2026-10-15. tools/g1-motion/record_production.mjs: the production gate checked the published clips; MuJoCo 3.16.0, Menagerie unitree_g1, timestep 0.002 s, joint PD kp 500 kv 10.32, root unactuated, sampled at 50 Hz. Source: the first 3.5 s of NVIDIA GR00T-WholeBodyControl macarena_001__A545. production.json

   • Live demoRun it on the G1 clip
   • Input fileThe clip with four seeded mistakes (raw.csv)
   • Receipt 55b8224bThe repaired clip passes