MODEL / CHECKPOINT
HoloMotion v1.4.0
Horizon Robotics
Model
Checkpoint artifacts and an independent MotionChallenge inference adapter.
- Organization
- Horizon Robotics
- Type
- MoE
Reference-routed mixture-of-experts Transformer policy. - Version
- v1.4.0 · 14k
author checkpoint - Robot support
- Unitree G1 · 29 DoF
- Author source revision
- fcb8d4d8e96af9535c2adcc2b53e267019f865a2
Checkpoint artifacts
- Author release
- HorizonRobotics/HoloMotion ↗
- Artifact type
- Author-released checkpoint
- Original file
- model_14000.onnx ↗
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 ↗
859174937272747e762075db482e2b8d05d40dacb3a09884fc9d7d42086bbffeInference 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