| --- |
| license: other |
| task_categories: |
| - robotics |
| - reinforcement-learning |
| tags: |
| - humanoid |
| - unitree-g1 |
| - whole-body-control |
| - teleoperation |
| - vla |
| - onnx |
| - nvidia |
| - locomotion |
| - manipulation |
| size_categories: |
| - n<1K |
| --- |
| |
| # GEAR-SONIC: Whole-Body Humanoid Control |
|
|
| **SONIC (Supersizing Motion Tracking)** — NVIDIA's humanoid behavior foundation model for natural whole-body control. Provides a unified policy for walking, running, jumping, manipulation, and more. |
|
|
| ## Model Details |
|
|
| | Field | Value | |
| |---|---| |
| | **License** | NVIDIA Open Model License (commercial use ✅) | |
| | **Robot** | Unitree G1 (29-DoF) | |
| | **Input** | Observations (joint states, IMU, motion references) | |
| | **Output** | 29-dim joint position targets | |
| | **Control Frequency** | 50Hz | |
| | **Format** | ONNX (encoder + decoder + planner) | |
|
|
| ## Variants |
|
|
| | Variant | Use Case | Lookahead | |
| |---|---|---| |
| | **default** | General-purpose motion tracking | 200ms | |
| | **low_latency** | Teleoperation, VLA execution | 80ms | |
| | **sonic_v1_1** | Heading-normalized teleoperation | 200ms | |
| |
| ## Quick Start |
| |
| ```python |
| from huggingface_hub import snapshot_download |
| import onnxruntime as ort |
| import numpy as np |
| |
| # Download model |
| snapshot_download(repo_id="BlackCatRoboticsAI/g1-sonic-base", local_dir="./g1-sonic") |
| |
| # Load models |
| encoder = ort.InferenceSession("./g1-sonic/model_encoder.onnx") |
| decoder = ort.InferenceSession("./g1-sonic/model_decoder.onnx") |
| |
| # Run inference |
| obs = np.random.randn(1, 1762).astype(np.float32) |
| tokens = encoder.run(None, {"obs_dict": obs}) |
| action = decoder.run(None, {"obs_dict": obs}) |
| ``` |
| |
| ## Features |
| |
| - 🤖 **Unified Whole-Body Control**: Single policy handles walking, running, crawling, jumping, manipulation |
| - 🎮 **Real-Time Teleoperation**: VR-based whole-body teleoperation via PICO headset |
| - 🚀 **Hardware Deployment**: C++ inference stack, runs on Jetson |
| - 🎨 **Kinematic Planner**: Real-time locomotion with multiple movement styles |
| - 🔄 **Multi-Modal Control**: Keyboard, gamepad, VR, high-level planning |
| |
| ## Teleoperation |
| |
| SONIC supports real-time whole-body teleoperation via PICO VR headset: |
| - Walking, running, sideways movement |
| - Kneeling, getting up, jumping |
| - Bimanual manipulation, object hand-off |
| |
| ## Citation |
| |
| ```bibtex |
| @article{luo2025sonic, |
| title={SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control}, |
| author={Luo, Zhengyi and Yuan, Ye and Wang, Tingwu and others}, |
| journal={arXiv preprint arXiv:2511.07820}, |
| year={2025} |
| } |
| ``` |
| |
| ## License |
| |
| NVIDIA Open Model License — commercial use permitted with attribution. See [NVIDIA Open Model License](https://developer.download.nvidia.com/licenses/NVIDIA-OneWay-Noncommercial-License-22Mar2022.pdf) for full terms. |
| |
