MODEL / CHECKPOINT
HoloMotion v1.3.2
Horizon Robotics
Model
Checkpoint artifacts and an independent MotionChallenge inference adapter.
- Organization
- Horizon Robotics
- Type
- MoE
Reference-routed mixture-of-experts Transformer policy. - Version
- v1.3.2
author checkpoint - Robot support
- Unitree G1 · 29 DoF
- Author source revision
- 799302097ac60971db049f3861d3e67c96bffd32
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.
Download links deliver the adapter files. The release links and verification notes distinguish author files from conversions; SHA256 identifies the bytes used.
Download ↗
f3fa8cecf98080fe255348fd94627038f90db64246ca7309de15e80ad6bc6f22Inference 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