MODEL / CHECKPOINT
MOSAIC GMT
BAAI / TUM / Tsinghua & collaborators
Model
General motion tracker from MOSAIC, using the released GMT checkpoint and offline motion-replay inference.
- Organization
- BAAI / TUM / Tsinghua & collaborators
- Type
- Dense
Dense feed-forward policy with five-frame observation history. - Version
- GMT · d6e12412
author checkpoint - Robot support
- Unitree G1 · 29 DoF
- Author source revision
- 175287dd559c098d21b287a8a27c6bb48d4606ff
Checkpoint artifacts
- Author release
- MOSAIC authors ↗
- Artifact type
- Author-released checkpoint
- Original file
- gmt.onnx ↗
Original general tracking ONNX; no conversion or fine-tuning.
Download links deliver the adapter files. The release links and verification notes distinguish author files from conversions; SHA256 identifies the bytes used.
Download ↗
d6e124126a1b3e4fd3cc75e820fc0a4e170aa66ab297290fa1a3f1495fa07f3dInference 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
- 20 ms
- Reference preview
- 0 ms
- Output interface
- joint-pd-feedforward
- Configuration
- policy.json