| # Reference Documentation | |
| These pages contain the original standalone documentation that previously lived as individual `README_*.md` files. They are preserved here as detailed references. | |
| - [Training Code Structure](training_code.md) — training codebase architecture, pipeline flow, configuration system, and key classes | |
| - [Deployment Code & Program Flow](deployment_code.md) — CLI arguments, logging, observation config, and visualization tools | |
| - [Observation Configuration](observation_config.md) — YAML config format, all observation types with dimensions, and how to create custom observations | |
| - [Motion Reference Data](motion_reference.md) — reference motion file format, conversion, verification, and usage | |
| - [Kinematic Planner ONNX Model](planner_onnx.md) — detailed input/output specification for the ONNX-exported kinematic planner | |
| - [JetPack 6 Flashing Guide](jetpack6.md) — flash the Orin NX on the Unitree G1 | |
| - [Decoupled WBC (N1.5 / N1.6)](decoupled_wbc.md) — the earlier Decoupled WBC stack used in Gr00t N1.5 and N1.6 | |