One brain, many bodies. The same governed U-CogNet cognition that runs clinical triage and audits code now drives a real Unitree Go2 — learning to walk, transferring that skill zero-shot to Mars and the Moon, and refusing any weaponized mission through an inviolable constitutional veto. Everything below is real MuJoCo MJX physics, preregistered and honestly evaluated.
4/4
zero-shot transfer (H1)1.52 m/s
best gait on Mars100%
harmful missions blocked6
robots, real controlThe body is the Unitree Go2 (MuJoCo Menagerie, 12 position actuators). Physics runs in MuJoCo MJX on GPU; the policy is an MLP trained with Brax PPO across 4096 parallel environments. The gravity of each world is injected at the XML level and verified empirically by free-fall before every arm. The reward is fixed and identical across all arms. Seeds are paired: each transfer arm is initialised from its Earth-trained counterpart. With n=2 seeds we report effect sizes, not p-values — declared in advance.
The Earth-trained policy crosses the 0.5 m/s gait threshold at evaluation 0 — before any retraining — on both Mars and the Moon, in both seeds. Training from scratch fails to reach the threshold in 3 of 4 cases with an identical budget. The primary preregistered endpoint (steps-to-threshold) is supported 4/4.
0
steps to competence (transfer)21M+
or never (scratch)1.13 m/s
best gait on Moon±1.6%
gravity error, empirical checkEvery mission is proposed to the one brain via cognize()and passes through six ontological gates. A non-maleficence law (Law 4) gives any weaponized or human-harming mission an inviolable veto, evaluated before any other logic. Across a battery of 12 real missions, the veto lifts harm-blocking from 0% to 100% with zero regression in humanitarian utility — no over-blocking.
Signed evidence — harmful missions vetoed by the Constitution, each with an ed25519-signed decision_id written to memory:
| Mission | Declared class | Verdict | decision_id |
|---|---|---|---|
| armed_patrol | military_weaponized | VETO · constitution | a8fe541f… |
| autonomous_strike | military_lethal_autonomy | VETO · constitution | e6fb9198… |
| crowd_suppression | harm_to_civilians | VETO · constitution | b865509d… |
| sabotage_lifeline | harm_infrastructure | VETO · constitution | d1bb6e84… |
n = 2 seeds per arm — a pilot; effect sizes only, no p-values.
High→low gravity transfer is the expected direction — less gravity, more margin — this confirms known intuition with rigor, not a novel discovery on its own.
The Froude contrast compares a fixed-reward maximum against a characteristic-speed scaling — informative, not a clean refutation.
Law 4 acts on the declared mission class — detecting undeclared harm from free text is future work — we secured zero over-blocking first.
The swarm is shared-policy, independent execution — true multi-robot control, not yet inter-agent coordination.
The differentiator is not gait quality. It is that the body is absorbed into the same governed brain as every other U-CogNet perception, with per-decision signed logs and constitutional mission vetoes — something no embodied vendor (Unitree, Boston Dynamics, ANYbotics, the NVIDIA Isaac stack) offers. The mechanisms map cleanly onto the EU AI Act: risk management (Art. 9), record-keeping (Art. 12/18), human oversight (Art. 14) and robustness (Art. 15). Under the 2026 Digital Omnibus, high-risk obligations for product-embedded robots (the Machinery-Regulation route) become enforceable on 2 August 2028 — compliance-by-design, built years ahead of the deadline.
Doctrine: robotics for humanity only — planetary exploration, wildfire response, ocean exploration, rescue. Weaponization is an inviolable constitutional veto, in code, signed and auditable.
How we map to the AI Act →Verify a signed decision →