MODEL / CHECKPOINT
UFO FB-CPR-Aux 192M
RoboParty
Model
The released G1 forward-backward controller from UFO. A backward encoder turns reference poses into a latent command for its history-conditioned policy.
- Organization
- RoboParty
- Type
- FB
Forward-backward latent policy with a backward reference encoder (FB-CPR-Aux). - Version
- FB-CPR-Aux · 191,995,904 training steps
author-released checkpoint; 192M denotes training steps - Robot support
- Unitree G1 · 29 DoF
- Author source revision
- ee5c57082bb4223bdac215bff7a607cbe0a93cd1
Checkpoint artifacts
- Author release
- RoboParty / UFO ↗
- Artifact type
- Author-released checkpoint
- Original file
- FBcprAuxModel.onnx ↗
Official project links the artifact repository; its release manifest binds the training and deployment commits and the SHA256 of both ONNX files.
Download links deliver the adapter files. The release links and verification notes distinguish author files from conversions; SHA256 identifies the bytes used.
Download ↗
fe58bf17427679a0f0a22ad5f05d7579373a365936154770f31e815e8f0e4ad7Download ↗
4333441ba4a393f9493545f5c8a706fa912e8ec358dae1c05c09e31aaae00d4bInference 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
The encoder input named privileged_state is computed exclusively from REFERENCE frames. Actual actor inputs are proprioception/history; released slew limits and endpoint behavior are retained.
Exact checkpoint & evidence ↗- Control interval
- 20 ms
- Reference history
- 0 ms
- Reference preview
- 80 ms
- Output interface
- joint-pd-feedforward
- Configuration
- policy.json