MODEL / CHECKPOINT
TWIST2 1017-20k
Amazon FAR
Model
Author TWIST2 1017-20k network evaluated with the sim2real deployment configuration: 50 Hz, first-frame history, wrist Kp 40 / Kd 5 and unclipped actions.
- Organization
- Amazon FAR
- Type
- Dense
Convolutional history encoder and dense policy layers. - Version
- 1017 · 20k
author checkpoint filename - Robot support
- Unitree G1 · 29 DoF
- Author source revision
- b06178f19a22f2138cbd31f60c6d494bc263f67d
Checkpoint artifacts
- Author release
- amazon-far/TWIST2 ↗
- Artifact type
- Author-released checkpoint
- Original file
- twist2_1017_20k.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.
Download ↗
2d1fb3a31e4e967f70ecfefc3ad1e7b2ac491677068b89f60b565a94e7735061Inference 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
Original TWIST2 1017-20k network with the pinned sim2real deployment: 50 Hz, first-observation history fill, wrist Kp 40/Kd 5, and unclipped network actions. The author sim2sim route instead uses 100 Hz, zero history, wrist Kp 4/Kd 0.2 and action clipping at +/-10. Benchmark reference preparation, reset, 2 ms physics and scoring stay in Core.
Exact checkpoint & evidence ↗- Control interval
- 20 ms
- Reference history
- 0 ms
- Reference preview
- 0 ms
- Output interface
- joint-pd-feedforward
- Configuration
- policy.json