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deterministic-control

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dfeen87 / stg-embodied-poc

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Embodied validation suite for the Spiral‑Time Governor (STG), demonstrating deterministic safety filtering for LLM‑controlled quadruped locomotion in MuJoCo. Includes synthetic and physics‑based experiments, reproducible pipelines, and figure generation for the STG v2.2 paper.

robotics legged-robots safety-critical quadruped mujoco embodied-ai llm-robotics deterministic-control hallucination-suppression spiral-time-governor
  • Updated Mar 21, 2026
  • Python

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