MODEL / CHECKPOINT
TeleopIT G1
Westlake / SII
Model
Checkpoint artifacts and an independent MotionChallenge inference adapter.
- Organization
- Westlake / SII
- Type
- Dense
Temporal convolutional encoder and dense policy head. - Version
- track_g1 · 1ebd341d
author checkpoint or pinned source revision - Robot support
- Unitree G1 · 29 DoF
- Author source revision
- f9263865c581802ad531854b8e547e2403a945f3
Checkpoint artifacts
- Author release
- BotRunner64/Teleopit ↗
- Artifact type
- Author-released checkpoint
- Original file
- track_g1.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 ↗
1ebd341d9193e1c49a986450f6043ba1a9473ad46636ce0bcb1c7755c856e0deInference 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
Actual torso orientation is reconstructed by FK. Target velocities are finite differences of REFERENCE positions/orientations, not integration of actual measurements.
Exact checkpoint & evidence ↗- Control interval
- 20 ms
- Reference history
- 0 ms
- Reference preview
- 0 ms
- Output interface
- joint-pd-feedforward
- Configuration
- policy.json