| { |
| "schema_version": 1, |
| "model_id": "nvidia/GEAR-SONIC", |
| "model_name": "GEAR-SONIC", |
| "embodiment": "Unitree G1", |
| "control_frequency_hz": 50, |
| "token_dimension": 64, |
| "variants": { |
| "default": { |
| "display_name": "Default SONIC", |
| "description": "Original general-purpose SONIC whole-body controller.", |
| "smpl_reference": { |
| "future_frames": 10, |
| "frame_interval_ms": 20, |
| "lookahead_ms": 200 |
| }, |
| "deployment_files": [ |
| "model_encoder.onnx", |
| "model_decoder.onnx", |
| "observation_config.yaml" |
| ], |
| "training_files": [ |
| "sonic_release/last.pt", |
| "sonic_release/config.yaml" |
| ] |
| }, |
| "low_latency": { |
| "display_name": "Low-latency teleoperation", |
| "description": "Whole-body teleoperation controller with a shorter SMPL reference horizon.", |
| "smpl_reference": { |
| "future_frames": 4, |
| "frame_interval_ms": 20, |
| "lookahead_ms": 80 |
| }, |
| "deployment_files": [ |
| "low_latency/model_encoder.onnx", |
| "low_latency/model_decoder.onnx", |
| "low_latency/observation_config.yaml" |
| ], |
| "training_files": [ |
| "low_latency/last.pt", |
| "low_latency/config.yaml", |
| "low_latency/model_config.yaml" |
| ] |
| }, |
| "sonic_v1_1": { |
| "display_name": "SONIC v1.1", |
| "description": "Whole-body teleoperation controller with robot-heading-normalized targets and wrist-pose augmentation.", |
| "smpl_reference": { |
| "future_frames": 10, |
| "frame_interval_ms": 20, |
| "lookahead_ms": 200 |
| }, |
| "deployment_files": [ |
| "sonic_v1_1/model_encoder.onnx", |
| "sonic_v1_1/model_decoder.onnx", |
| "sonic_v1_1/observation_config.yaml" |
| ], |
| "training_files": [ |
| "sonic_v1_1/last.pt", |
| "sonic_v1_1/config.yaml", |
| "sonic_v1_1/model_config.yaml" |
| ] |
| } |
| }, |
| "shared_files": { |
| "planner": "planner_sonic.onnx", |
| "sample_data_prefix": "sample_data/", |
| "smpl_archive_parts": [ |
| "bones_seed_smpl/bones_seed_smpl.tar.part_aa", |
| "bones_seed_smpl/bones_seed_smpl.tar.part_ab", |
| "bones_seed_smpl/bones_seed_smpl.tar.part_ac", |
| "bones_seed_smpl/bones_seed_smpl.tar.part_ad", |
| "bones_seed_smpl/bones_seed_smpl.tar.part_ae", |
| "bones_seed_smpl/bones_seed_smpl.tar.part_af", |
| "bones_seed_smpl/bones_seed_smpl.tar.part_ag" |
| ] |
| } |
| } |
|
|
