MODEL / CHECKPOINT
Humanoid-GPT Transformer 216
Galbot / Tsinghua & collaborators
Model
The original 216 Transformer checkpoint with sixteen chronological observation frames and the author reference preprocessing.
- Organization
- Galbot / Tsinghua & collaborators
- Type
- Dense
Continuous-action Transformer conditioned on sixteen136D observations; this is a separate checkpoint from the264 MLP. - Version
- Transformer 216 · 82313c76
author-released Transformer checkpoint - Robot support
- Unitree G1 · 29 DoF
- Author source revision
- 9f9e7b74ecadb532abbb34b6a779d87191a9bbb6
Checkpoint artifacts
- Author release
- GalaxyGeneralRobotics/Humanoid-GPT ↗
- Artifact type
- Author-released checkpoint
- Original file
- pns_wo_priv216_trans.onnx ↗
Original author Transformer 216 ONNX without conversion or weight changes. SHA256 and author Git blob 82ed6796c50b53d3fc260741dbb676b09ac0084f verified.
pns_wo_priv216_trans.onnx uses 16 chronological frames of 136 observations, as required by the released model input shape.
Download links deliver the adapter files. The release links and verification notes distinguish author files from conversions; SHA256 identifies the bytes used.
Download ↗
82313c76869ca796395abf80ee4288cced424d25087e74e32f9ec739ff59c853Inference 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
Author infer_onnx_real hardware route: fixed synthetic root [0,0,0.78], author reference FK, EMA and 16-frame history. No measured robot position or position integration.
Exact checkpoint & evidence ↗- Control interval
- 20 ms
- Reference history
- 0 ms
- Reference preview
- 20 ms
- Output interface
- joint-pd-feedforward
- Configuration
- policy.json