MODEL / CHECKPOINT
ProtoMotions G1 BONES
NVIDIA
Model
Checkpoint artifacts and an independent MotionChallenge inference adapter.
- Organization
- NVIDIA
- Type
- Dense
Dense MLP motion-tracking policy. - Version
- G1 BONES deploy
author checkpoint directory - Robot support
- Unitree G1 · 29 DoF
- Author source revision
- f69fdcaabff31846b4d2247207417b57dc788828
Checkpoint artifacts
- Author release
- NVlabs/ProtoMotions ↗
- Artifact type
- Author-released checkpoint
- Original file
- unified_pipeline.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.
Policy checkpoint
Download ↗
Download ↗
a59baa3e04a951e5cf0b4cc68f24ebaafa9272714226618b99a5017dfc805b4cInference 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
The actual torso orientation is FK-derived. The released pipeline takes joint state, local angular velocity, past actions and future reference torso rotations/joints; no actual translation.
Exact checkpoint & evidence ↗- Control interval
- 20 ms
- Reference history
- 0 ms
- Reference preview
- 160 ms
- Output interface
- See runtime contract
- Configuration
- policy.yaml