{
  "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"
    ]
  }
}