diff --git a/Dockerfile.g1-sim b/Dockerfile.g1-sim
new file mode 100644
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+++ b/Dockerfile.g1-sim
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+# Headless DimOS Unitree G1 simulation smoke image.
+FROM python:3.12-slim
+
+ENV UV_SYSTEM_PYTHON=1 \
+    PYTHONUNBUFFERED=1 \
+    DIMOS_INSTALL=0 \
+    DIMOS_USE_SYSTEM=1 \
+    UV_VERSION=0.8.15 \
+    RUN_SECONDS=20 \
+    BLUEPRINT=unitree-g1-sim
+
+RUN apt-get update \
+    && apt-get install -y --no-install-recommends \
+        build-essential \
+        ca-certificates \
+        curl \
+        git \
+        libegl1 \
+        libgl1 \
+        libglib2.0-0 \
+        libgomp1 \
+        libsm6 \
+        libx11-6 \
+        libxext6 \
+        libxrender1 \
+        pkg-config \
+        portaudio19-dev \
+    && rm -rf /var/lib/apt/lists/* \
+    && curl -LsSf https://astral.sh/uv/${UV_VERSION}/install.sh | sh
+ENV PATH="/root/.local/bin:${PATH}"
+
+WORKDIR /app
+COPY pyproject.toml setup.py README.md LICENSE MANIFEST.in ./
+COPY dimos ./dimos
+COPY scripts/g1_sim_smoke.sh ./scripts/g1_sim_smoke.sh
+
+RUN uv pip install '.[unitree,sim]'
+
+CMD ["bash", "scripts/g1_sim_smoke.sh"]
diff --git a/cloudbuild.g1-sim.yaml b/cloudbuild.g1-sim.yaml
new file mode 100644
index 0000000000..4220c16085
--- /dev/null
+++ b/cloudbuild.g1-sim.yaml
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+substitutions:
+  _IMAGE: dimos-g1-sim
+  _TAG: smoke
+
+steps:
+  - name: gcr.io/cloud-builders/docker
+    args:
+      - build
+      - -f
+      - Dockerfile.g1-sim
+      - -t
+      - ${_IMAGE}:${_TAG}
+      - .
+  - name: gcr.io/cloud-builders/docker
+    args:
+      - run
+      - --rm
+      - -e
+      - RUN_SECONDS=10
+      - -e
+      - BLUEPRINT=unitree-g1-sim
+      - ${_IMAGE}:${_TAG}
+
+timeout: 1800s
+options:
+  logging: CLOUD_LOGGING_ONLY
diff --git a/docs/platforms/humanoid/g1/sprint-plan.md b/docs/platforms/humanoid/g1/sprint-plan.md
new file mode 100644
index 0000000000..f507dccc10
--- /dev/null
+++ b/docs/platforms/humanoid/g1/sprint-plan.md
@@ -0,0 +1,63 @@
+# Unitree G1 simulation sprint plan
+
+This plan is for running DimOS/DimensionalOS G1 without physical hardware, then making it easy to move the same blueprint shape onto a real G1 later.
+
+## Sprint 0 — discovery / runnable baseline
+
+Goal: prove the repo, CLI, and G1 simulation entrypoints are discoverable without hardware.
+
+- Use Python 3.12 and install `dimos[unitree,sim]` for simulation.
+- Confirm the CLI exposes `unitree-g1-sim`, `unitree-g1-basic-sim`, `unitree-g1-agentic-sim`, and `unitree-g1-nav-sim`.
+- Prefer `--viewer none` for headless CI/smoke checks; use Rerun/native viewer for local interactive runs.
+- Default smoke command:
+
+```bash
+uv venv --python 3.12
+source .venv/bin/activate
+uv pip install 'dimos[unitree,sim]'
+dimos --simulation --viewer none run unitree-g1-sim
+```
+
+## Sprint 1 — local sim loop
+
+Goal: make the basic humanoid simulation usable for local development.
+
+- Run `unitree-g1-sim` first; it is the smallest perceptive G1 simulation blueprint.
+- If visualizing, use `dimos --simulation --viewer rerun run unitree-g1-sim`.
+- Keep `dimos status`, `dimos log`, and `dimos stop` as the standard lifecycle commands for daemon runs.
+- If Rerun or the viewer crashes, reduce visual load before changing robot logic.
+
+## Sprint 2 — navigation / command-center loop
+
+Goal: validate the navigation stack against the simulated G1.
+
+- Run the native navigation sim blueprint:
+
+```bash
+dimos --simulation --viewer rerun run unitree-g1-nav-sim
+```
+
+- `unitree-g1-nav-sim` connects `UnityBridgeModule`, native nav stack, `MovementManager`, and visualization.
+- The blueprint rate-limits heavy visualization (`vis_throttle=0.1`) because G1 visualization can overwhelm Rerun.
+- Use this sprint for path-planning, waypoints, local planner tuning, and command-center/Rerun checks.
+
+## Sprint 3 — agentic / cloud-ready harness
+
+Goal: package a repeatable G1 sim run for agent/MCP work and optional GCP execution.
+
+- Agentic local command:
+
+```bash
+dimos --simulation --viewer rerun run unitree-g1-agentic-sim --daemon
+dimos status
+dimos mcp list-tools
+dimos log -n 100
+```
+
+- For GCP, use the requested project alias/ID explicitly on every command, e.g. `gcloud ... --project YOUR_PROJECT_ID`. If a short name is only a local alias, resolve it before submitting builds.
+- A practical cloud target is a Docker image that runs the same smoke command headlessly (`--viewer none`) for CI; interactive graphics/GPU should stay local or on a GPU VM with display forwarding.
+- Do not require real robot networking (`ROBOT_IP`, DDS/WebRTC, sport mode) for simulation sprints.
+
+## Real-G1 boundary
+
+Simulation sprints do **not** perform real G1 actions. Real hardware requires the G1 doc flow: SSH/network setup, sport mode safety positioning, robot-side DimOS install, and explicit human supervision.
diff --git a/scripts/g1_sim_smoke.sh b/scripts/g1_sim_smoke.sh
new file mode 100755
index 0000000000..5bbb9231c0
--- /dev/null
+++ b/scripts/g1_sim_smoke.sh
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+#!/usr/bin/env bash
+set -euo pipefail
+
+# Headless smoke for DimOS Unitree G1 simulation entrypoints.
+# Use RUN_SECONDS to limit runtime; set DIMOS_INSTALL=1 to install deps into .venv.
+# Set DIMOS_USE_SYSTEM=1 inside containers where dependencies are already installed
+# into the system Python.
+
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+cd "$ROOT"
+
+: "${PYTHON_VERSION:=3.12}"
+: "${RUN_SECONDS:=20}"
+: "${BLUEPRINT:=unitree-g1-sim}"
+: "${DIMOS_INSTALL:=0}"
+: "${DIMOS_USE_SYSTEM:=0}"
+
+if [[ "$DIMOS_USE_SYSTEM" != "1" ]]; then
+  if [[ ! -d .venv ]]; then
+    uv venv --python "$PYTHON_VERSION"
+  fi
+  # shellcheck disable=SC1091
+  source .venv/bin/activate
+
+  if [[ "$DIMOS_INSTALL" == "1" ]]; then
+    uv pip install '.[unitree,sim]'
+  fi
+elif [[ "$DIMOS_INSTALL" == "1" ]]; then
+  uv pip install --system '.[unitree,sim]'
+fi
+
+python - <<'PY'
+from dimos.robot.all_blueprints import all_blueprints
+required = {
+    "unitree-g1-sim",
+    "unitree-g1-basic-sim",
+    "unitree-g1-agentic-sim",
+    "unitree-g1-nav-sim",
+}
+missing = sorted(required - set(all_blueprints))
+if missing:
+    raise SystemExit(f"Missing G1 simulation blueprints: {missing}")
+print("G1 simulation blueprints OK:", ", ".join(sorted(required)))
+PY
+
+run_limited() {
+  if command -v timeout >/dev/null 2>&1; then
+    timeout "$RUN_SECONDS" "$@"
+    return $?
+  fi
+  if command -v gtimeout >/dev/null 2>&1; then
+    gtimeout "$RUN_SECONDS" "$@"
+    return $?
+  fi
+  python - "$RUN_SECONDS" "$@" <<'PY'
+import subprocess
+import sys
+
+seconds = float(sys.argv[1])
+cmd = sys.argv[2:]
+try:
+    raise SystemExit(subprocess.run(cmd, timeout=seconds).returncode)
+except subprocess.TimeoutExpired:
+    raise SystemExit(124)
+PY
+}
+
+set +e
+run_limited dimos --simulation --viewer none run "$BLUEPRINT"
+status=$?
+set -e
+
+if [[ "$status" == "124" ]]; then
+  echo "G1 simulation smoke reached RUN_SECONDS=${RUN_SECONDS}; treating bounded run as pass."
+  exit 0
+fi
+exit "$status"