MODEL / CHECKPOINT
HoloMotion v2.0.0
Horizon Robotics
Model
Checkpoint artifacts and an independent MotionChallenge inference adapter.
- Organization
- Horizon Robotics
- Type
- MoE
Reference-routed mixture-of-experts Transformer policy. - Version
- v2.0.0
author checkpoint - Robot support
- Unitree G1 · 29 DoF
- Author source revision
- ebb3747ad3b6dab57e4b621611efef87317bdc3b
Checkpoint artifacts
- Author release
- HorizonRobotics/HoloMotion v2.0.0 ↗
- Artifact type
- Author-released checkpoint
SHA256 pins the author artifact. Native inference parity is recorded separately.
Download links deliver the adapter files. The release links and verification notes distinguish author files from conversions; SHA256 identifies the bytes used.
Policy checkpoint
Download ↗
Download ↗
b0681976135eed572d1d20aefc52ec65c149bdc636f2594a6436fa7136a3fc86Inference 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
Actual control-point offsets are local FK. Reconstruct with current joints/orientation at a fixed zero origin; compare the complete 1378D released WholeBody14 inference path. Reference positions remain relative to the reference root.
Exact checkpoint & evidence ↗- Control interval
- 20 ms
- Reference history
- 0 ms
- Reference preview
- 100 ms
- Output interface
- joint-pd-feedforward
- Configuration
- policy.json