x2-sonic / release.json
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{
"release_date": "2026-08-01",
"source_commits": {
"x2_sonic_training": "edc4058",
"x2_sonic_data_pipeline": "cdbaeb1"
},
"assets_file": "ASSETS.md",
"caveats_file": "caveat.md",
"links_file": "LINKS.md",
"artifacts": {
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"role": "primary frozen-eval checkpoint"
},
"checkpoints/x2-sonic-sphere-44k.pt": {
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"role": "fully validated 12-sphere continuation"
},
"onnx/x2-sonic-sphere-44k-x2.onnx": {
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"role": "MuJoCo X2 policy export"
}
},
"checkpoint_lineage": {
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"initialization": "g1_perm_seed_v2.pt",
"training_motion_corpus": "x2_native_filtered",
"anchor_reward_weight": 2.0,
"body_linear_velocity_std": 0.3,
"foot_collision": "mesh"
},
"x2-sonic-sphere-44k.pt": {
"initialization": "continuation from mature mesh-foot 42k lineage",
"continuation_motion_corpus": "x2_native_v4",
"anchor_reward_weight": 0.5,
"body_linear_velocity_std": 1.0,
"foot_collision": "12-sphere"
}
},
"primary_eval": {
"protocol": "frozen-v4-512-paper-aligned-robot-terminations",
"success_count": 480,
"motion_count": 512,
"success_rate": 0.9375,
"progress_rate": 0.9531749153529745,
"all_mpjpe_l_mm": 47.563358013246635,
"all_mpjpe_g_mm": 249.63785241242107,
"success_mpjpe_l_mm": 44.28966798731616
},
"sphere_44k_eval": {
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"motion_count": 512,
"success_rate": 0.87890625,
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"all_mpjpe_l_mm": 43.251730347971744,
"all_mpjpe_g_mm": 305.1584380662072,
"success_mpjpe_l_mm": 39.52195704979093
},
"sphere_44k_mujoco": {
"protocol": "official-planner-profile-online-gmr-action-clip-20",
"evaluated_seconds_after_warmup": 19.0,
"falls": 0,
"forward_displacement_m": 3.651753455400467,
"lateral_reference_residual_m": -0.4739720162797312,
"yaw_reference_residual_deg": -1.2963526493041027,
"joint_tracking_rmse_rad": 0.4492853521655926
},
"hardware_sim2real_validated": false
}