MODEL / CHECKPOINT
SONIC Original
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
- Original
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 ↗
c7241a123eaa36b5d64bad19540efde93cac1ad443bd4572fd12ca99898118edencoder
Download ↗
Download ↗
013ab0287236aa2721e13f1e936d699db982302d0de0bfcdae76d5c3245362d3Inference 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
- 900 ms
- Output interface
- joint-pd-feedforward
- Configuration
- policy.json