SONIC for A3

This repository hosts the 035 / 200k weights and a separate Rockchip build sysroot.

Built on GR00T-WholeBodyControl / SONIC. Thanks to the GEAR team for their amazing and solid work, comprehensive open-source release and thorough documentation.

The 035 step-200,000 weights (PT, ONNX and RKNN) and accompanying release configurations are licensed under the Apache License 2.0. Third-party software in the sysroot retains its own license terms.

Real-robot motions can fail or cause falls. Validate in MuJoCo first, retain a safety harness / gantry on hardware, and protect all people nearby.

Downloads

Use the source repository downloader to select PT, ONNX or RKNN artifacts. It also fetches the root config.json release metadata, which Hugging Face uses for its native download statistics. Sysroot-only downloads do not fetch this model metadata.

The Hub counter measures requests to recognized configuration files, not unique users or completed weight transfers. Direct binary-only downloads and fully cached local runs may not be counted. Statistics update on Hugging Face's schedule; this change does not reconstruct previously untracked downloads.