---
license: other
license_name: mixed-upstream
license_link: LICENSE
tags:
  - robotics
  - humanoid
  - unitree-g1
  - whole-body-control
  - onnx
  - sim2real
library_name: g1_backend
---

# g1_backend checkpoints

Exported whole-body control policies for the **Unitree G1**, packaged for the
[`g1_backend`](https://github.com/uni-loco-manip/sim2real) deployment stack
(importable as `sim2real`) and for
[`tele_humanoid_benchmark`](https://github.com/dwei-k/tele_humanoid_benchmark)'s
`g1_bridge`.

These are **deploy artifacts converted from upstream research code**, not
original training runs. See [Provenance](#provenance) before redistributing.

## Install

From a `tele_humanoid_benchmark` checkout (resolves the `g1_backend` repo root
for you, skips files already present, supports per-family download):

```bash
python -m robocasa.scripts.download_g1_checkpoints --all
python -m robocasa.scripts.download_g1_checkpoints --family sonic
```

Or directly:

```bash
unset all_proxy ALL_PROXY   # the Hub client's httpx does not speak SOCKS
hf download bwrooney/g1_backend-checkpoints --local-dir <g1_backend>/checkpoints
```

> **`--local-dir` matters.** This repo holds the four family folders at its
> root, so downloading without pointing at `checkpoints/` scatters `sonic/`,
> `amo/`, `heft/` and `scalebfm/` into the `g1_backend` repo root — where,
> unlike `checkpoints`, they are not gitignored.

> Do not fetch these on the robot. The G1 runs with `HF_HUB_OFFLINE=1`;
> checkpoints reach it via `sync-robot.sh`.

## Contents

979 MiB, 14 files, four families. Each family's `policy.yaml` is the entry
point the backend loads.

| family | path | consumed by | size |
|---|---|---|---|
| `sonic` | `sonic/low_latency/g1/` | `g1_bridge/backends/sonic.py` | 924.7 MiB |
| `heft` | `heft/pmg/` | `g1_bridge/backends/generic.py` | 23.2 MiB |
| `amo` | `amo/` | `g1_bridge/backends/amo.py` | 18.6 MiB |
| `scalebfm` | `scalebfm/humanoid_transformer_m/` | `g1_bridge/backends/generic.py` | 12.4 MiB |

```text
amo/
  amo_jit.pt                17,819,339   TorchScript whole-body policy
  adapter_jit.pt             1,661,974
  adapter_norm_stats.pt          1,996
  policy.yaml                    5,636
heft/pmg/
  policy.onnx               24,324,327
  policy.yaml                   10,374
  policy.json                      705
scalebfm/humanoid_transformer_m/
  policy.onnx               13,021,189
  policy.yaml                   12,137
  policy.json                      327
sonic/low_latency/g1/
  planner_sonic.onnx       773,952,989   GR00T kinematic planner
  model_decoder.onnx       149,763,762
  model_encoder.onnx        45,933,505
  policy.yaml                    5,414
```

SONIC ships an encoder/decoder **pair** rather than a single fused
`policy.onnx`; `g1_backend`'s `SplitOnnxBridgeTracking` is selected
automatically when that key is present.

## Scope

This release contains exactly the four families above. Some code and docs in
the two repos reference paths that are **not** part of it:

- `sonic/release/*` — `g1_bridge/sonic_utils/ckpt.py` declares a `release`
  variant; only `low_latency` ships, and it is the default (`--sonic-ckpt new`).
- `sonic/low_latency/smpl/policy.yaml` — a fallback in
  `g1_bridge/configs/g1_sonic.json`, overwritten at runtime before it is read.
- `sonic/release/smpl/human_joints_info.pkl` — used by
  `sim2real/teleop/smpl_stream.py`.
- `heft/pmg/policy-semantic.yaml` — `generic.py`'s `default_policy_config`,
  which `POLICY_CONFIGS` supersedes.
- `mimic-lite/*`, `bfm-zero/*`, `holomotion/*` and other families listed in the
  `g1_backend` README.

None of these are on the benchmark's runtime path.

## Provenance

Converted deploy artifacts from upstream research projects, not original
training runs:

- **sonic** — NVIDIA GEAR-SONIC / GR00T-WholeBodyControl (low-latency variant)
- **scalebfm** — ScaleBFM (`humanoid_transformer_m`)
- **amo**, **heft** — converted for this deployment stack

**License:** the upstream terms differ per family and are not asserted here.
`license: other` is a placeholder — check each upstream project's terms before
redistributing or using commercially.