| { |
| "name": "SONIC-K1", |
| "version": "v0.1.0", |
| "description": "SONIC universal-token whole-body motion tracking policy for the Booster K1 (22 DoF), trained from scratch", |
| "author": "Kyrylo Kolesnichenko, ATR Lab", |
| "license_note": "Code: Apache-2.0 (upstream GR00T-WholeBodyControl); K1 assets: BSD-3 (booster_assets). Weights: trained on BONES-SEED under its academic, non-commercial license.", |
| "attribution": "Training data includes Motion Data by Bones Studio (https://bones.studio/). Use of the underlying dataset is subject to the BONES Motion Capture Dataset License Agreement.", |
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| "file": "model_step_050000.pt (full training state, not released)", |
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| }, |
| "software": { |
| "isaaclab": "0.54.4", |
| "isaacsim": "5.1.0", |
| "torch": "2.7.0+cu128", |
| "trl": "0.28.0", |
| "accelerate": "1.15.0", |
| "hydra-core": "1.3.2", |
| "mujoco": "3.13.0", |
| "onnx": "1.22.0", |
| "onnxruntime": "1.20.1", |
| "numpy": "1.26.4", |
| "onnx_opset": 13 |
| }, |
| "training": { |
| "exp_config": "manager/universal_token/all_modes/sonic_k1", |
| "seed": 0, |
| "iterations": 50000, |
| "clips": 9991, |
| "clip_source": "BONES-SEED retargeted to K1 with UMR; subset of 62,427 feasibility-tagged, QA-passing clips", |
| "num_envs": "16,384 (8,192 for it2100-2450)", |
| "motions_loaded": "all 9,991 from it9451 (override_num_motions_to_load); 1,024-motion resampling window before", |
| "gpu": "1x NVIDIA H100 NVL", |
| "gpu_hours_wall": 135.4, |
| "gpu_hours_note": "sum of per-iteration times over 5 log segments; includes periods with other users' jobs on the same GPU (~103 h at the unshared 7.4 s/it)", |
| "policy_params": 25078496, |
| "critic_params": 10751996, |
| "architecture": "encoders g1/teleop/smpl (MLP) -> FSQ (2 tokens x 32 dims, 32 levels) -> decoder g1_dyn (MLP); smpl encoder untrained (no SMPL data)" |
| }, |
| "control": { |
| "policy_hz": 50, |
| "physics_dt_s": 0.005, |
| "decimation": 4, |
| "action_clip": 20.0, |
| "joint_target": "default_joint_pos + action_scale * action", |
| "pd": "explicit, kp/kd/effort per joint in k1_plant.json" |
| }, |
| "eval": { |
| "isaac_im_eval": { |
| "protocol": "upstream im_eval; MPJPE over successful clips (SONIC/PHC convention), all_clips also given; 10 s clips, 2,000 envs, encoders mixed g1/teleop as in the stock eval; official = tracking/eval terminations incl. foot_pos_xyz 0.2 m; nofoot = foot rule off; paper = height 0.25 m + orientation 1 rad only", |
| "unseen_1985": { |
| "official": { |
| "success_rate_pct": 93.1, |
| "progress_rate_pct": 95.4, |
| "mpjpe_l_mm": 14.65, |
| "mpjpe_pa_mm": 10.79, |
| "mpjpe_g_mm": 84.86, |
| "all_clips": { |
| "mpjpe_l_mm": 15.52, |
| "mpjpe_pa_mm": 11.38, |
| "mpjpe_g_mm": 85.79 |
| }, |
| "failed_clips": 137 |
| }, |
| "nofoot": { |
| "success_rate_pct": 97.9, |
| "progress_rate_pct": 98.5, |
| "mpjpe_l_mm": 15.5, |
| "mpjpe_pa_mm": 11.31, |
| "mpjpe_g_mm": 97.35, |
| "all_clips": { |
| "mpjpe_l_mm": 15.96, |
| "mpjpe_pa_mm": 11.59, |
| "mpjpe_g_mm": 98.35 |
| }, |
| "failed_clips": 41 |
| }, |
| "paper": { |
| "success_rate_pct": 98.7, |
| "progress_rate_pct": 99.1, |
| "mpjpe_l_mm": 15.78, |
| "mpjpe_pa_mm": 11.49, |
| "mpjpe_g_mm": 98.22, |
| "all_clips": { |
| "mpjpe_l_mm": 16.07, |
| "mpjpe_pa_mm": 11.65, |
| "mpjpe_g_mm": 99.3 |
| }, |
| "failed_clips": 26 |
| } |
| }, |
| "seen_2000": { |
| "official": { |
| "success_rate_pct": 98.5, |
| "progress_rate_pct": 98.8, |
| "mpjpe_l_mm": 15.17, |
| "mpjpe_pa_mm": 11.18, |
| "mpjpe_g_mm": 82.64, |
| "all_clips": { |
| "mpjpe_l_mm": 15.18, |
| "mpjpe_pa_mm": 11.19, |
| "mpjpe_g_mm": 83.17 |
| }, |
| "failed_clips": 30 |
| }, |
| "nofoot": { |
| "success_rate_pct": 98.8, |
| "progress_rate_pct": 99.0, |
| "mpjpe_l_mm": 15.24, |
| "mpjpe_pa_mm": 11.21, |
| "mpjpe_g_mm": 84.48, |
| "all_clips": { |
| "mpjpe_l_mm": 15.26, |
| "mpjpe_pa_mm": 11.23, |
| "mpjpe_g_mm": 84.54 |
| }, |
| "failed_clips": 25 |
| }, |
| "paper": { |
| "success_rate_pct": 98.8, |
| "progress_rate_pct": 99.0, |
| "mpjpe_l_mm": 15.27, |
| "mpjpe_pa_mm": 11.24, |
| "mpjpe_g_mm": 84.57, |
| "all_clips": { |
| "mpjpe_l_mm": 15.29, |
| "mpjpe_pa_mm": 11.25, |
| "mpjpe_g_mm": 84.61 |
| }, |
| "failed_clips": 24 |
| } |
| }, |
| "held_out_split": "configs/eval_split.json, frozen 2026-10-13 before training; 0 clips shared with training" |
| }, |
| "mujoco_sim2sim": { |
| "protocol": "gear_sonic/scripts/eval_k1_mujoco.py; MPJPE over all clips (paper_successful_clips also given); g1 encoder, 5 ms physics, explicit PD, 10 s clips", |
| "unseen_200": { |
| "success_paper_pct": 99.0, |
| "success_official_like_pct": 90.5, |
| "mpjpe_l_mm": 16.16, |
| "mpjpe_pa_mm": 12.32, |
| "mpjpe_g_mm": 124.5, |
| "paper_successful_clips": { |
| "mpjpe_l_mm": 15.93, |
| "mpjpe_pa_mm": 12.2, |
| "mpjpe_g_mm": 124.67 |
| }, |
| "joint_jerk_over_reference": 0.866, |
| "parity_max_abs_action": 0.01189124584197998 |
| }, |
| "seen_200": { |
| "success_paper_pct": 96.0, |
| "success_official_like_pct": 93.5, |
| "mpjpe_l_mm": 16.3, |
| "mpjpe_pa_mm": 11.92, |
| "mpjpe_g_mm": 82.87, |
| "paper_successful_clips": { |
| "mpjpe_l_mm": 14.94, |
| "mpjpe_pa_mm": 11.24, |
| "mpjpe_g_mm": 80.95 |
| }, |
| "joint_jerk_over_reference": 1.239, |
| "parity_max_abs_action": 0.02002173662185669 |
| }, |
| "unseen_200_onnx_driven": { |
| "success_paper_pct": 99.0, |
| "success_official_like_pct": 90.5, |
| "mpjpe_l_mm": 16.19, |
| "mpjpe_pa_mm": 12.33, |
| "mpjpe_g_mm": 124.73, |
| "paper_successful_clips": { |
| "mpjpe_l_mm": 15.96, |
| "mpjpe_pa_mm": 12.21, |
| "mpjpe_g_mm": 124.9 |
| }, |
| "joint_jerk_over_reference": 0.866 |
| } |
| }, |
| "onnx_parity": { |
| "note": "max |a_onnx - a_pt| per clip: 392/400 clips <= 1.4e-5 (median 1.1e-5); 8/400 clips show one 8e-3..2e-2 step from a single FSQ level flip at a rounding boundary; closed-loop results identical" |
| }, |
| "headline_sonic_rule": { |
| "rule": "SONIC paper success rule: fail if root or any end-effector height deviates > 0.25 m from the reference. MuJoCo, it50000, --no-terminate; metrics over successful clips; MPJPE-L over K1's 12 links.", |
| "bones_unseen_1985_10s": { |
| "sonic": 97.4, |
| "no_fall": 98.4, |
| "official_like": 91.9, |
| "phc_0.5m": 86.6, |
| "mpjpe_l_mm": 15.4, |
| "mpjpe_pa_mm": 11.8, |
| "e_vel": 2.65, |
| "e_acc": 0.98 |
| }, |
| "phuma_1758": { |
| "sonic": 93.6, |
| "no_fall": 97.3, |
| "official_like": 85.0, |
| "phc_0.5m": 91.7, |
| "mpjpe_l_mm": 22.4, |
| "mpjpe_pa_mm": 15.9, |
| "e_vel": 3.15, |
| "e_acc": 0.86, |
| "note": "2,000 HF-release motions stratified over 15 sources, G1->K1 robot retarget, 1,758 pass QA" |
| }, |
| "100style_200x20s": { |
| "sonic": 99.0, |
| "no_fall": 98.5, |
| "official_like": 77.0, |
| "phc_0.5m": 51.5, |
| "mpjpe_l_mm": 22.5, |
| "mpjpe_pa_mm": 15.8, |
| "e_vel": 4.32, |
| "e_acc": 1.36 |
| }, |
| "lafan1_all_10s_windows_1390": { |
| "sonic": 70.6, |
| "no_fall": 75.5, |
| "official_like": 45.0, |
| "phc_0.5m": 39.9, |
| "mpjpe_l_mm": 31.9, |
| "locomotion_subset_792_sonic": 91.9 |
| }, |
| "lafan1_full_clips_65": { |
| "sonic": 18.5, |
| "no_fall": 27.7, |
| "official_like": 0.0, |
| "phc_0.5m": 0.0 |
| } |
| }, |
| "mujoco_full_sets": { |
| "unseen_1985_10s": { |
| "no_fall": 98.4, |
| "official_like": 91.9 |
| }, |
| "unseen_1985_full": { |
| "no_fall": 98.3, |
| "official_like": 91.8 |
| }, |
| "seen_2000_10s": { |
| "no_fall": 98.6, |
| "official_like": 97.2 |
| }, |
| "seen_2000_full": { |
| "no_fall": 98.5, |
| "official_like": 97.0 |
| } |
| }, |
| "isaac_extra": { |
| "teleop_encoder_unseen_10s": { |
| "official": 93.4, |
| "nofoot": 97.8, |
| "paper": 98.7, |
| "mpjpe_l_mm": 15.1 |
| }, |
| "unseen_full_length": { |
| "official": 93.4, |
| "nofoot": 97.5, |
| "paper": 98.6, |
| "mpjpe_l_mm": 15.0 |
| } |
| }, |
| "hardware_like_mujoco": { |
| "condition": "Booster deploy torque caps + 20 ms action latency + PD x0.8", |
| "unseen_1985_no_fall": 95.9, |
| "official_like": 87.7, |
| "mpjpe_l_mm": 19.3 |
| }, |
| "robustness_mujoco_200_unseen_no_fall": { |
| "baseline": 99.0, |
| "dense_push_1_2s_3x": 97.0, |
| "dense_push_4x": 91.0, |
| "friction_0.4": 98.5, |
| "friction_0.2": 94.0, |
| "motor_strength_0.7": 99.0, |
| "pd_x0.6": 99.0, |
| "pd_x1.4": 98.0, |
| "payload_2kg": 98.5, |
| "obs_noise_x3": 99.0, |
| "latency_20ms": 98.5, |
| "latency_40ms": 56.0, |
| "booster_torque_caps": 99.0 |
| }, |
| "baselines_reported_not_rerun": { |
| "source": "SONIC paper (Luo et al., arXiv 2511.07820); Unitree G1; not rerun by us", |
| "phuma": { |
| "SONIC": 97.2, |
| "BeyondMimic": 73.8, |
| "Any2Track": 78.5 |
| }, |
| "sonic_test_content": { |
| "SONIC": 98.5, |
| "BeyondMimic": 82.0, |
| "Any2Track": 61.6 |
| } |
| } |
| }, |
| "checkpoint_iteration": 50000, |
| "links": { |
| "project_page": "https://kyry.me/sonic-k1/", |
| "code": "https://github.com/Kyk0/sonic-k1", |
| "weights": "https://huggingface.co/Kyry10/sonic-k1", |
| "k1_usd": "https://huggingface.co/datasets/Kyry10/booster-k1-usd", |
| "training_setup_guide": "https://github.com/Kyk0/isaaclab-h100" |
| }, |
| "code": { |
| "release": { |
| "repo": "https://github.com/Kyk0/sonic-k1", |
| "tag": "v0.1.0", |
| "commit": "ad0850502f9fa86f0641d3ad4e95ade809f053a8", |
| "upstream": "NVlabs/GR00T-WholeBodyControl v1.1", |
| "upstream_commit": "a0732b642c0333077e127a2f56ab0014c196bca4", |
| "note": "Clean release tree: K1 support plus evaluation (eval_k1_mujoco.py), player (play_k1.py) and deploy tools. The released evaluation numbers were produced with this code." |
| }, |
| "training": { |
| "repo": "private development fork of NVlabs/GR00T-WholeBodyControl (branch k1, not published)", |
| "commit_at_start": "8bb110f (2026-10-14 02:18, run started 2026-10-14 05:33)", |
| "commits_during_run": [ |
| "cef74b7 im_eval: map G1 body-subset names to K1 bodies (eval only)", |
| "ef59a8e im_eval: fix _body_idx recursion (eval only)" |
| ], |
| "working_tree": "uncommitted k1.py / k1_openloop.py edits, later saved as 1d19d8d (optional ideal-PD debug switch, default off; training used the default implicit PD)", |
| "equivalence": "The release K1 robot config, rewards and experiment config are the training ones. The release actor + config reproduce 92.5% official success in Isaac on 200 unseen clips (vs 93.1% on all 1,985)." |
| } |
| }, |
| "sample_motions": { |
| "path": "examples/k1/motions/*.npz", |
| "source": "100STYLE (Mason, Starke, Komura 2022), CC BY 4.0, https://doi.org/10.5281/zenodo.8127870" |
| } |
| } |
