| --- |
| license: other |
| license_name: nvidia-open-model-license |
| license_link: https://huggingface.co/nvidia/Metatron-v1/blob/main/LICENSE.pdf |
| language: |
| - en |
| library_name: onnx |
| tags: |
| - robotics |
| - reinforcement-learning |
| - humanoid |
| - onnx |
| - metatron |
| --- |
| |
| # Metatron v1 |
|
|
| ## Choose an artifact |
|
|
| | Package | Use | Documentation | |
| | --- | --- | --- | |
| | [G1/](G1/) | Native PyTorch G1 inference: checkpoint, resolved config, reconstruction recipe and legal files | [G1 model card](G1/MODEL_CARD.md), [download and run](G1/README.md) | |
| | `demo/model.onnx` | Single-robot browser scene/recovery pipeline | Browser export card below | |
| | `racer/network.onnx` | Six-robot batched G1 Racer network | Browser export card below | |
|
|
| The native checkpoint is 459,455,983 bytes (SHA256 |
| `e5fc2e47a8f9ee9b96a674cabbf236b3c510f887427645a14bc1779b10f0b43a`). |
| It retains the posterior and normalization statistics; the deterministic browser |
| graphs export the prior/decoder path. Interfaces are not interchangeable. |
| The native recipe masks scene inputs; see its card before re-exporting. |
|
|
| `config.json` is a machine-readable artifact index with file sizes and SHA256 |
| digests, consumed by ProtoMotions' pinned native downloader. Model files are |
| hosted here, not served by GitHub Pages. The existing browser paths are unchanged. |
|
|
| ## License |
|
|
| Model license: NVIDIA Open Model License. The [full agreement](LICENSE.pdf) and |
| [attribution notice](NOTICE.txt) govern model artifacts, including native weights |
| and serialized configurations. Source code remains Apache-2.0. Dataset and asset |
| rights are separate; this repository does not redistribute training motion clips. |
|
|
| - Deployment Geography: Global. |
| - Use Case: Researchers and developers running interactive humanoid control in a |
| browser; the separate native G1 package also supports simulator and supervised |
| real-G1 deployment workflows. |
| - Release: Metatron v1, hosted in this repository and integrated with |
| [ProtoMotions](https://github.com/NVlabs/ProtoMotions). Pin a Hub revision; no |
| public ProtoMotions release tag is asserted here. |
|
|
| # Browser export model card |
|
|
| ## Overview |
|
|
| ONNX inference exports of the unified Metatron G1 scene/recovery policy used by the |
| Metatron browser demo and G1 Racer. Both files use the same learned policy |
| weights, with different runtime interfaces. They are **not interchangeable**. |
| The current exports are the epoch-6410 SAMP-capable unified student. Walking, |
| scene interaction and recovery share one policy, with no separate recovery adapter. |
|
|
| | Field | Value | |
| | --- | --- | |
| | Robot | Unitree G1, 29 controlled joints | |
| | Model | MaskedMimic-style transformer student with deterministic prior and decoder | |
| | Inference | Deterministic learned prior; FP32 | |
| | Format | ONNX | |
| | Integration | ONNX Runtime Web with WebGPU or WebAssembly | |
|
|
| ## Intended Use |
|
|
| Interactive humanoid control, locomotion and recovery evaluation with the |
| matching browser applications. The applications provide physics, observations, |
| task goals and control logic; the ONNX files alone are not complete demos. |
|
|
| Metatron supports deployment workflows beyond the browser, including other |
| simulators and real G1 robots. These particular browser exports require their |
| matching observation and control interfaces: compatibility is not a safety |
| certification or a claim that these exact files have been validated on hardware. |
|
|
| ## Artifacts |
|
|
| | File | Interface | Size | |
| | --- | --- | --- | |
| | `demo/model.onnx` | Single-robot pipeline, including observation processing and action conversion | 403,375,789 bytes | |
| | `racer/network.onnx` | Six-robot batched network; requires G1 Racer's separate observation processing | 403,036,698 bytes | |
|
|
| SHA256 digests: |
|
|
| - `demo/model.onnx`: `7180e82cae7ec04ff7766c262d430f57573d93678e025d8a71916885072a0cd4` |
| - `racer/network.onnx`: `130a22718a34c0da488e2157553b40efedfefcf6ca6cb6b97cfdd67f8dfbeaf3` |
|
|
| The Racer export changes graph organization and batching, not learned weights. |
| Neither artifact is a resumable training checkpoint. Runtime code, robot assets, |
| motion clips and application configuration are distributed separately. |
|
|
| ## Inputs and Outputs |
|
|
| The demo pipeline consumes current G1 state, eight historical state samples, |
| paired incoming raw actions, nine-entry raw-action history, masked future |
| pose/style/velocity goals and scene-box context (39 inputs). There is no |
| `recovery_enabled` input. It returns joint PD targets (`action`), |
| PD gains (`stiffness`, `damping`) and `raw_action` for history feedback. |
| Recovery targets remain live runtime inputs, not baked goals. Applications use |
| staged local goals with independent per-robot recovery state. |
|
|
| G1 Racer computes observations outside the neural graph and evaluates all six |
| robots in one batch. Its network exposes `action` and `raw_action`; controller |
| parameters come from the paired runtime. Do not feed raw demo inputs directly |
| to this network or change its batch size without rebuilding and validating it. |
|
|
| Preserve the paired application's joint/body ordering, quaternion convention, |
| history ordering, normalization, target masks, control rate and action mapping. |
| Use the matching runtime manifest and ONNX tensor signatures for exact layouts. |
|
|
| ## Runtime Support and Validation |
|
|
| The browser integrations use MuJoCo WASM for simulation and ONNX Runtime Web for |
| inference. WebGPU is recommended on capable devices; CPU/WASM is a fallback and |
| does not guarantee real-time six-robot operation. GPU drivers, browsers and |
| hardware affect startup time and throughput. |
|
|
| The six-robot ONNX and compiled-observation paths were checked against the |
| single-robot demo export on 60 distinct/history-perturbed test states, with |
| maximum absolute action error 5.55e-6. Recovery height, recovery timing, action |
| history and scene inputs were independently varied and affected the outputs. |
| These are numerical export checks, not task-success or real-robot benchmarks. |
| Racer's paired application also runs action-parity fixtures at startup. |
|
|
| For reproducibility, pin downloads to a repository commit rather than `main`. |
| Public browser delivery requires anonymous access to the files; never embed a |
| Hugging Face access token in client-side code. |
|
|
| ## Limitations and Safety |
|
|
| - Recovery, balance and tracking can fail, especially outside the evaluated |
| states, terrain and command distribution. |
| - Game launch assists, low-gravity zones and respawns are application mechanics, |
| not capabilities guaranteed by the learned policy or physical robot. |
| - The model is not a collision-avoidance system or a safety controller. |
| - Hardware use requires independent validation, appropriate joint/torque limits, |
| supervised testing, and an emergency-stop mechanism. |
| - These exports are not a complete training-reproduction package. No training |
| dataset or training checkpoint is included. |
|
|
| ## License and Asset Rights |
|
|
| Model terms: [NVIDIA Open Model License Agreement](LICENSE.pdf), with the |
| required attribution in [NOTICE.txt](NOTICE.txt). The complete agreement |
| governs; this card does not replace or extend it. |
|
|
| Model licensing does not grant rights to motion datasets, recovery reference |
| clips, robot meshes, game assets or third-party runtime software. None of those |
| assets is included in this model repository. Obtain them through their |
| respective distributions and follow their separate terms. Permission to include |
| a clip inside a demo or game does not imply permission to redistribute that |
| clip as a standalone dataset. |
|
|
| These ONNX exports are publicly available for anonymous download. Their |
| availability does not change the separate distribution terms or release status |
| of the associated application bundles, motion clips and other assets. |
|
|
| ## References |
|
|
| - [ProtoMotions](https://github.com/NVlabs/ProtoMotions) |
| - [ProtoMotions documentation](https://nvlabs.github.io/ProtoMotions/) |
| - [NVIDIA Open Model License](https://www.nvidia.com/en-us/agreements/enterprise-software/nvidia-open-model-license/) |
|
|
