Motius SONIC G1
This artifact contains the official default SONIC encoder and decoder.
from motius import Pipeline
pipe = Pipeline.from_pretrained("ZeyuLing/Motius-SONIC-G1")
out = pipe.infer_motion_tracking(
encoder_observation, # [1, 1762]
decoder_observation, # [1, 930], excluding the 64D token
)
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.