Add release manifest for download tracking
Browse files- config.json +79 -0
config.json
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{
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"schema_version": 1,
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"model_id": "nvidia/GEAR-SONIC",
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"model_name": "GEAR-SONIC",
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"embodiment": "Unitree G1",
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"control_frequency_hz": 50,
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"token_dimension": 64,
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"variants": {
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"default": {
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"display_name": "Default SONIC",
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"description": "Original general-purpose SONIC whole-body controller.",
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"smpl_reference": {
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"future_frames": 10,
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"frame_interval_ms": 20,
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"lookahead_ms": 200
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},
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"deployment_files": [
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"model_encoder.onnx",
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"model_decoder.onnx",
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"observation_config.yaml"
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],
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"training_files": [
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"sonic_release/last.pt",
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"sonic_release/config.yaml"
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]
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},
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"low_latency": {
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"display_name": "Low-latency teleoperation",
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"description": "Whole-body teleoperation controller with a shorter SMPL reference horizon.",
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"smpl_reference": {
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"future_frames": 4,
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"frame_interval_ms": 20,
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"lookahead_ms": 80
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},
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"deployment_files": [
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"low_latency/model_encoder.onnx",
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"low_latency/model_decoder.onnx",
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"low_latency/observation_config.yaml"
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],
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"training_files": [
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"low_latency/last.pt",
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"low_latency/config.yaml",
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"low_latency/model_config.yaml"
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]
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},
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"sonic_v1_1": {
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"display_name": "SONIC v1.1",
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"description": "Whole-body teleoperation controller with robot-heading-normalized targets and wrist-pose augmentation.",
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"smpl_reference": {
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"future_frames": 10,
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"frame_interval_ms": 20,
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"lookahead_ms": 200
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},
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"deployment_files": [
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"sonic_v1_1/model_encoder.onnx",
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"sonic_v1_1/model_decoder.onnx",
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"sonic_v1_1/observation_config.yaml"
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],
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"training_files": [
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"sonic_v1_1/last.pt",
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"sonic_v1_1/config.yaml",
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"sonic_v1_1/model_config.yaml"
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]
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}
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},
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"shared_files": {
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"planner": "planner_sonic.onnx",
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"sample_data_prefix": "sample_data/",
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"smpl_archive_parts": [
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"bones_seed_smpl/bones_seed_smpl.tar.part_aa",
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"bones_seed_smpl/bones_seed_smpl.tar.part_ab",
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"bones_seed_smpl/bones_seed_smpl.tar.part_ac",
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"bones_seed_smpl/bones_seed_smpl.tar.part_ad",
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"bones_seed_smpl/bones_seed_smpl.tar.part_ae",
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"bones_seed_smpl/bones_seed_smpl.tar.part_af",
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"bones_seed_smpl/bones_seed_smpl.tar.part_ag"
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]
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}
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}
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