MODEL / CHECKPOINT
HoloMotion v1.3.1
Horizon Robotics
Model
The original v1.3.1 checkpoint using the author runtime legacy RoPE window handling.
- Organization
- Horizon Robotics
- Type
- MoE
Reference-routed mixture-of-experts Transformer policy. - Version
- v1.3.1
author checkpoint - Robot support
- Unitree G1 · 29 DoF
- Author source revision
- adaacd50ada6ba9338f6c3f539093f85453e2554
Checkpoint artifacts
- Author release
- HorizonRobotics/HoloMotion ↗
- Artifact type
- Author-released checkpoint
The adapter pins this published artifact by SHA256. Artifact identity is separate from inference parity.
Original checkpoint with an 8192-position RoPE table. The author runtime resets its KV cache at 8128 steps while retaining reference time and physical state.
Download links deliver the adapter files. The release links and verification notes distinguish author files from conversions; SHA256 identifies the bytes used.
Download ↗
ae28e8e9bf39bc752e82ade5e0ea0436689dafa07af41fa39af696f6f6a2bbfeInference interface
The adapter declares its control clock and reference window below. Source and configuration describe the observation and action transforms.
Observation requirements
Model-specific handling
Released actor uses joint state, angular velocity/gravity or orientation and reference features. Retain author normalization, history/recurrent state, action processing and declared lookahead; validate numerical independence from actual translation.
Exact checkpoint & evidence ↗- Control interval
- 20 ms
- Reference history
- 0 ms
- Reference preview
- 200 ms
- Output interface
- joint-pd-feedforward
- Configuration
- policy.json