---
license: other
license_name: nvidia-open-model-license
license_link: https://www.nvidia.com/en-us/agreements/enterprise-software/nvidia-open-model-license/
tags: [robotics, humanoid, unitree-g1, whole-body-control, loco-manipulation]
---
# H2R box loco-manipulation policies for Unitree G1 (R15, P23)

Residual policies on top of frozen **SONIC** (NVIDIA GR00T-WholeBodyControl) for walking up to a box, picking it
up, carrying and placing it on a Unitree G1 with rubber hands (R15) or Dex3 hands (P23). Trained with PPO in Isaac Lab
on retargeted OMOMO `largebox` motions (paired clean / corrupted references) only.

| folder | policy | box input | notes |
|---|---|---|---|
| `r15/` | output residual over frozen SONIC, rubber hands | **box estimator** (deployable: virtual camera + odometry, no simulator truth) | step 15000 |
| `p23/` | output residual over frozen SONIC, Dex3 hands | simulator box pose (privileged) | step 15000 |

Each folder: `model_step_015000.pt` (policy, value and optimizer state; includes the frozen SONIC weights) and the
`config.yaml` it was trained with. Load with the GR00T-WholeBodyControl fork used for training
(`scripts_sonic_render/eval/run_eval.py --checkpoint <folder>/model_step_015000.pt ...`, which reads the
`config.yaml` next to the checkpoint).

## Reference results (no steering)
HOI2ROI feasible43 (43 out-of-distribution pick-carry-place cases × 8 episodes), full-size largebox:

| policy | pickup | success (pickup and box ≤ 30 cm from goal) |
|---|---|---|
| R15, box estimator (emulator) | 29.4% | 20.1% |
| R15, real camera pipeline (sim) | 29.7% | 20.9% |
| P23 | 20.3% | 11.3% |

Caveat: the HOI2ROI motions were generated for a box scaled ×0.76 (~25 cm); these numbers use the full-size box.
R15 is box-size specific (trained on one box only).

## License
Model weights are derived from NVIDIA SONIC (GR00T-WholeBodyControl) and are distributed under the
[NVIDIA Open Model License](https://www.nvidia.com/en-us/agreements/enterprise-software/nvidia-open-model-license/).
Training motions derive from the OMOMO dataset; no motion data is included here.