MODEL / CHECKPOINT
SONIC v1.1
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
- v1.1
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 ↗
34bae8570d4a4421a5391a5c2befd745d4a02d182ec539e5f9da44c091c67509encoder
Download ↗
Download ↗
fb97de22819b2057b41459802128d91723d91a25f0ad73e7bfc41a9cf8365baeInference 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