{
  "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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  "source_checkpoint": {
    "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
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  "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"
  }
}