SONIC Capoeira V8
SONIC Capoeira V8 is a Unitree G1 whole-body control policy fine-tuned from
NVIDIA SONIC for a dynamic, hand-supported capoeira kick with landing recovery.
Contents
model_step_000025_encoder.onnx: observation encodermodel_step_000025_decoder.onnx: action decoderobservation_config.yaml: deployment observation configurationparity.json: PyTorch-to-ONNX numerical parity report
The paired encoder and decoder must be used together with the supplied
observation configuration and the matching motion reference dataset.
Training and validation
The policy was fine-tuned in Isaac Sim with landing-contact, capture-point,
two-foot-support, joint-speed, knee-torque-reserve, and final-upright rewards.
It completed 112/112 Isaac Sim evaluations across nominal and randomized
profiles. ONNX parity maximum absolute error was 0 for the encoder and
1.6689300537109375e-6 for the decoder.
In the official C++ MuJoCo closed loop, the selected checkpoint passed the
initial safety gate and executed the full 467-frame motion in 10/10 trials.
Strict final post-landing stabilization succeeded in 3/10 trials.
Safety limitation
This is a simulation research artifact. It is not real-robot ready and must
not be deployed on a physical G1 without additional safety validation,
hardware limits, supervision, and a reliable recovery controller.
Code and results
Dataset
