RFCP: Robot Fashion Catwalk Policy

A SONIC fine-tune that makes the Unitree G1 walk a fashion runway: down the catwalk, turn, pose, walk back.

• *_g1.onnx: the policy
• *_encoder.onnx, *_decoder.onnx: SONIC's split export
• config.yaml, model_config.yaml: the config it was trained and exported with

vs stock SONIC	Stock	RFCP
Path error	366 mm	218 mm
End drift	0.61 m	0.27 m

Fine-tuned from NVIDIA SONIC (GR00T-WholeBodyControl) weights under the NVIDIA Open Model License.

Team ATR · Motion Data by Bones Studio · Dataset: https://huggingface.co/datasets/Kyry10/rfcp-dataset