This artifact contains the official non-privileged Humanoid-GPT 216 ONNX policy and the complete Unitree G1-5010 MuJoCo asset tree.

It requires Python 3.10 or newer and ONNX Runtime 1.18 or newer because the official graph uses ONNX IR 10 / opset 20.

infer_motion_tracking runs one controller step. A complete physical rollout must supply simulator/robot state observations at 50 Hz and apply the returned 29-DOF action under the gains and ordering declared by the artifact.