---
license: other
license_name: nvidia-open-model-license
tags: [robotics, humanoid, unitree-g1, onnx, sonic, catwalk]
---

# 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