MODEL / CHECKPOINT
SONIC Low-Latency
NVIDIA
Model
Checkpoint artifacts and an independent MotionChallenge inference adapter.
- Organization
- NVIDIA
- Type
- FSQ
Quantized latent control using finite scalar quantization (FSQ), with a motion encoder and a conditioned decoder. - Version
- Low-Latency · 2026-06-16
Author release - Robot support
- Unitree G1 · 29 DoF
- Author source revision
- 45c03facbf848e0c743091b7d9c17952096ff908
Checkpoint artifacts
- Author release
- NVlabs/GR00T-WholeBodyControl ↗
- Artifact type
- Author-released checkpoint
- Original file
- model_decoder.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 ↗
c4ac2e74045e7cbfb568f15e6bf47ea7ce023df7a94322af50be223e0a628babencoder
Download ↗
Download ↗
60be43157f57d812f38bdbb740a5de5d5d070e8840d9edc16f02a91a6d06255bInference 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
- 180 ms
- Output interface
- joint-pd-feedforward
- Configuration
- policy.json