---
license: other
task_categories:
- robotics
- reinforcement-learning
tags:
- humanoid
- unitree-g1
- whole-body-control
- teleoperation
- vla
- onnx
- nvidia
- locomotion
- manipulation
size_categories:
- n<1K
---

# GEAR-SONIC: Whole-Body Humanoid Control

**SONIC (Supersizing Motion Tracking)** — NVIDIA's humanoid behavior foundation model for natural whole-body control. Provides a unified policy for walking, running, jumping, manipulation, and more.

## Model Details

| Field | Value |
|---|---|
| **License** | NVIDIA Open Model License (commercial use ✅) |
| **Robot** | Unitree G1 (29-DoF) |
| **Input** | Observations (joint states, IMU, motion references) |
| **Output** | 29-dim joint position targets |
| **Control Frequency** | 50Hz |
| **Format** | ONNX (encoder + decoder + planner) |

## Variants

| Variant | Use Case | Lookahead |
|---|---|---|
| **default** | General-purpose motion tracking | 200ms |
| **low_latency** | Teleoperation, VLA execution | 80ms |
| **sonic_v1_1** | Heading-normalized teleoperation | 200ms |

## Quick Start

```python
from huggingface_hub import snapshot_download
import onnxruntime as ort
import numpy as np

# Download model
snapshot_download(repo_id="BlackCatRoboticsAI/g1-sonic-base", local_dir="./g1-sonic")

# Load models
encoder = ort.InferenceSession("./g1-sonic/model_encoder.onnx")
decoder = ort.InferenceSession("./g1-sonic/model_decoder.onnx")

# Run inference
obs = np.random.randn(1, 1762).astype(np.float32)
tokens = encoder.run(None, {"obs_dict": obs})
action = decoder.run(None, {"obs_dict": obs})
```

## Features

- 🤖 **Unified Whole-Body Control**: Single policy handles walking, running, crawling, jumping, manipulation
- 🎮 **Real-Time Teleoperation**: VR-based whole-body teleoperation via PICO headset
- 🚀 **Hardware Deployment**: C++ inference stack, runs on Jetson
- 🎨 **Kinematic Planner**: Real-time locomotion with multiple movement styles
- 🔄 **Multi-Modal Control**: Keyboard, gamepad, VR, high-level planning

## Teleoperation

SONIC supports real-time whole-body teleoperation via PICO VR headset:
- Walking, running, sideways movement
- Kneeling, getting up, jumping
- Bimanual manipulation, object hand-off

## Citation

```bibtex
@article{luo2025sonic,
  title={SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control},
  author={Luo, Zhengyi and Yuan, Ye and Wang, Tingwu and others},
  journal={arXiv preprint arXiv:2511.07820},
  year={2025}
}
```

## License

NVIDIA Open Model License — commercial use permitted with attribution. See [NVIDIA Open Model License](https://developer.download.nvidia.com/licenses/NVIDIA-OneWay-Noncommercial-License-22Mar2022.pdf) for full terms.