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oniichan521/
g1-taiji-form-sonic-onnx

Name: g1-taiji-form-sonic-onnx
Availability: InStock

reinforcement-learning

apache-2.0

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G1 Taiji Form — Fine-tuned SONIC Policy (ONNX)

Fine-tuned SONIC whole-body control policy for the GHOST TRIAL 03 (SuperSONIC Challenge). Teaches a Unitree G1 humanoid a 25-second continuous Tai Chi / martial-arts routine (wide stances, low center-of-gravity drops, lunges, weight shifts, torso rotations, large arm sweeps, and single-leg knee-lift balances).

Files

model_step_002000_g1.onnx — main policy (G1 robot)
model_step_002000_encoder.onnx / model_step_002000_decoder.onnx — motion token encoder/decoder
model_step_002000_teleop.onnx — teleoperation variant
model_step_002000_smpl.onnx — SMPL variant

Results (vs stock SONIC)

Metric	Stock	Fine-tuned
mpjpe_g	1242 mm	189.1 mm
mpjpe_l	55.8 mm	34.3 mm
root drift	1244.8 mm	179.8 mm
Completion	fails in 0.24 s	full 25 s

Training

Fine-tuned from nvidia/GEAR-SONIC release checkpoint: 4000 iters (single motion) + 3500 iters root-tracking refinement (anchor weight 1.0, std 0.2, lr 1e-5), dual L40S. Dataset: g1-taiji-form-dataset

Credit

Motion Data by Bones Studio

oniichan521/g1-taiji-form-sonic-onnx