| GR00T-WholeBodyControl Documentation |
| ==================================== |
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| .. image:: https://img.shields.io/badge/License-Apache%202.0%20%7C%20NVIDIA%20Open%20Model-blue.svg |
| :target: resources/license.html |
| :alt: License |
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| .. image:: https://img.shields.io/badge/IsaacLab-2.3.0-blue.svg |
| :target: https://github.com/isaac-sim/IsaacLab/releases/tag/v2.3.0 |
| :alt: IsaacLab |
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| Welcome to the official documentation for **GR00T Whole-Body Control (WBC)**! This is a unified platform for developing and deploying advanced humanoid controllers. |
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| What is GR00T-WholeBodyControl? |
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| This codebase serves as the foundation for: |
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| - **Decoupled WBC** models used in NVIDIA Isaac-Gr00t, Gr00t N1.5 and N1.6 (see :doc:`detailed reference <references/decoupled_wbc>`) |
| - **GEAR-SONIC Series**: State-of-the-art controllers from the GEAR team |
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| News |
| ---- |
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| - **[2026-07-23]** **SONIC v1.1 checkpoint** — released a robot-heading-normalized SONIC controller trained with wrist-pose augmentation for 3-point teleoperation and SONIC-backed VLA execution. See the `Model Card <model_card.html>`_ and `Download Models <getting_started/download_models.html#sonic-v11-checkpoint>`_. |
| - **[06/16]** **Isaac Teleop Setup (CloudXR / DeviceIO, in-process)** — added bring-up docs for the in-process CloudXR path via ``isaacteleop[cloudxr]``, with no separate publisher container. See `Isaac Teleop Setup <tutorials/isaac_teleop_publisher_setup.html>`_. |
| - **[2026-06-16]** **Low-latency teleoperation checkpoint** — released a SONIC checkpoint with 4-frame SMPL reference lookahead for more responsive whole-body teleoperation. See the `Model Card <model_card.html>`_, `Download Models <getting_started/download_models.html#low-latency-teleoperation-checkpoint>`_, and `VLA Inference <tutorials/vla_inference.html#low-latency-teleoperation-checkpoint>`_ for usage. |
| - **[2026-05-07]** **End-to-end VLA workflow on G1** — collect teleop data, fine-tune Isaac-GR00T N1.7, and deploy with SONIC whole-body control. See `Data Collection <tutorials/data_collection.html>`_, `VLA Workflow <tutorials/vla_workflow.html>`_, and `VLA Inference <tutorials/vla_inference.html>`_. |
| - **[2026-04-14]** `Live web demo <https://nvlabs.github.io/GEAR-SONIC/demo.html>`_ — try SONIC interactively in your browser. Features `Kimodo <https://github.com/nv-tlabs/kimodo>`_ text-to-motion generation. |
| - **[2026-04-10]** Released **SONIC training code and checkpoint** on `HuggingFace <https://huggingface.co/nvidia/GEAR-SONIC>`_. Train from scratch or finetune. **Additional embodiment support** and **VLA data collection pipeline**. See `Training Guide <user_guide/training.html>`_. |
| - **[2026-03-24]** C++ inference stack update: motor error monitoring, TTS alerts, ZMQ protocol v4, idle-mode readaptation. **ZMQ header size changed to 1280 bytes.** |
| - **[2026-03-16]** `BONES-SEED <https://huggingface.co/datasets/bones-studio/seed>`_ open-sourced — 142K+ human motions (~288 hours) with G1 MuJoCo trajectories. |
| - **[2026-02-19]** Released GEAR-SONIC: pretrained checkpoints, C++ inference, VR teleoperation, and documentation. |
| - **[2025-11-12]** Initial release with Decoupled WBC for GR00T N1.5 and N1.6. |
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| GEAR-SONIC |
| ---------- |
| .. image:: _static/sonic-preview-gif-480P.gif |
| :width: 100% |
| :align: center |
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| .. raw:: html |
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| <p style="margin-top: 0; margin-bottom: 1em;"> |
| <a href="https://nvlabs.github.io/GEAR-SONIC/"><img src="https://img.shields.io/badge/🌐_Website-GEAR--SONIC-76B900" alt="Website"></a> |
| <a href="https://arxiv.org/abs/2511.07820"><img src="https://img.shields.io/badge/📄_arXiv-2511.07820-b31b1b" alt="Paper"></a> |
| <a href="https://github.com/NVlabs/GR00T-WholeBodyControl"><img src="https://img.shields.io/badge/💻_GitHub-Repository-181717" alt="GitHub"></a> |
| </p> |
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| **SONIC** is a humanoid behavior foundation model that gives robots a core set of motor skills learned from large-scale human motion data. Rather than building separate controllers for every motion, SONIC uses motion tracking as a scalable training task so a single unified policy can produce natural, whole-body movement and support a wide range of behaviors. |
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| 🎯 Key Features: |
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| - 🚶 Natural whole-body locomotion (walking, crawling, dynamic movements) |
| - 🎮 Real-time VR teleoperation support |
| - 🤖 Foundation for higher-level planning and interaction |
| - 📦 Ready-to-deploy C++ inference stack |
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| Quick Start: Sim2Sim |
| -------------------- |
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| Quickly test the SONIC deployment stack in MuJoCo before deploying on real hardware. |
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| .. raw:: html |
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| <video width="100%" autoplay loop muted playsinline style="border-radius: 8px; margin: 0 0 1.5em 0;"> |
| <source src="_static/sim2sim.mp4" type="video/mp4"> |
| </video> |
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| .. tip:: |
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| **Get running in minutes!** Follow the :doc:`Installation <getting_started/installation_deploy>` and :doc:`Quickstart <getting_started/quickstart>` guides to see this in action on your machine. |
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| Documentation |
| ------------- |
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| .. toctree:: |
| :maxdepth: 2 |
| :caption: Getting Started |
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| model_card |
| getting_started/installation_deploy |
| getting_started/download_models |
| getting_started/quickstart |
| getting_started/vr_teleop_setup |
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| .. toctree:: |
| :maxdepth: 2 |
| :caption: Tutorials |
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| tutorials/keyboard |
| tutorials/gamepad |
| tutorials/zmq |
| tutorials/manager |
| tutorials/isaac_teleop_publisher_setup |
| tutorials/vr_wholebody_teleop |
| tutorials/live_camera_teleop |
| tutorials/data_collection |
| tutorials/vla_workflow |
| tutorials/vla_inference |
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| .. toctree:: |
| :maxdepth: 2 |
| :caption: Training |
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| getting_started/installation_training |
| user_guide/training |
| user_guide/training_data |
| user_guide/new_embodiments |
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| .. toctree:: |
| :maxdepth: 2 |
| :caption: Best Practices |
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| user_guide/teleoperation |
| user_guide/troubleshooting |
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| .. toctree:: |
| :maxdepth: 2 |
| :caption: API Reference |
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| .. api/index |
| .. api/teleop |
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| .. toctree:: |
| :maxdepth: 2 |
| :caption: Reference Documentation |
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| references/index |
| user_guide/configuration |
| references/conventions |
| references/training_code |
| references/deployment_code |
| references/observation_config |
| references/motion_reference |
| references/planner_onnx |
| references/jetpack6 |
| references/decoupled_wbc |
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| .. toctree:: |
| :maxdepth: 1 |
| :caption: Additional Resources |
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| resources/citations |
| resources/license |
| resources/support |
| .. resources/contributing |
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| Indices and tables |
| ================== |
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| * :ref:`genindex` |
| * :ref:`modindex` |
| * :ref:`search` |
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