| # Metatron v1 — G1 |
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|
| Native PyTorch inference package for the Unitree G1, including policy weights, |
| portable resolved configuration and reconstruction recipe. This is the |
| SAMP-capable G1 policy, not a SOMA policy or a resumable training checkpoint. |
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| See [MODEL_CARD.md](MODEL_CARD.md) for architecture, inputs, scene limitations, |
| training provenance and safe use. [LICENSE.pdf](LICENSE.pdf) and |
| [NOTICE.txt](NOTICE.txt) must accompany redistributed model artifacts; code is |
| Apache-2.0 and third-party data/assets keep their own terms. |
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| From a compatible ProtoMotions checkout with MuJoCo dependencies installed: |
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|
| ```bash |
| python scripts/download_metatron.py |
| python protomotions/inference_agent.py --simulator mujoco --num-envs 1 \ |
| --checkpoint data/pretrained_models/metatron/G1/inference_last.ckpt \ |
| --inference-config examples/inference/metatron.py |
| ``` |
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| The helper pins the Hub revision and verifies every file. It includes the |
| license and model card. `--configs-only` downloads the small sidecars for config |
| tests, not a runnable policy. Avoid mixing files from different revisions. |
| The current native preset cycles idle/location/steering/reaching with `X` and |
| masks scene inputs. Use the separate `demo/model.onnx` and its paired application |
| for the scene-capable browser interface; a generic native re-export is not the |
| same graph. `racer/network.onnx` is the six-robot browser interface. |
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| No training data, recovery clips or robot meshes are included here. Robot and |
| example motion assets are supplied separately by ProtoMotions under their own terms. |
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