VIBE release models

Public release checkpoints for VIBE — Visual Behavior adaptation: vision adapters over a frozen SONIC base on the Unitree G1, one per task family. These are the behavior-validated checkpoints selected from the corresponding private training runs. The W&B project is not required to download or play them.

Play immediately

After installing VIBE and its pinned dependencies:

# Optional: download and verify every checkpoint up front.
bash scripts/setup/download_released_models.sh

# Or let play download only the selected checkpoint on first use.
play Vibe-Repose-BigCubeFloor-ImgFeat-Ext --agent release --viewer native
play Vibe-PerLoco-Grail-ImgFeat-Ext       --agent release --viewer native
play Vibe-PerLoco-OmRe-ImgFeat-Ext        --agent release --viewer native --num-envs 27
play Vibe-Uolm-ImgFeat-Ext                --agent release --viewer native
play Vibe-Dodge-ConeFast-ImgFeat-Ext      --agent release --viewer native

Downloads are cached by release tag under ~/.cache/vibe/releases by default and are verified against the SHA-256 values in release.json. Set VIBE_RELEASE_ROOT to move the cache.

Contents

task	checkpoint	training iteration
Vibe-Dodge-ConeFast-ImgFeat-Ext	Vibe-Dodge-ConeFast-ImgFeat-Ext/checkpoint.pt	14,999
Vibe-PerLoco-Grail-ImgFeat-Ext	Vibe-PerLoco-Grail-ImgFeat-Ext/checkpoint.pt	14,999
Vibe-PerLoco-OmRe-ImgFeat-Ext	Vibe-PerLoco-OmRe-ImgFeat-Ext/checkpoint.pt	14,999
Vibe-Repose-BigCubeFloor-ImgFeat-Ext	Vibe-Repose-BigCubeFloor-ImgFeat-Ext/checkpoint.pt	59,999
Vibe-Uolm-ImgFeat-Ext	Vibe-Uolm-ImgFeat-Ext/checkpoint.pt	24,999

Each .pt file is the complete RSL-RL training checkpoint: actor (frozen SONIC base, LoRA adapter, attention extractor), critic, optimizer state, and iteration. VIBE loads the actor for inference. ONNX exports are intentionally not included; export-agent <task> produces one.

The frozen vision backbone (default theia-tiny) is not in these files — VIBE fetches it from the Hugging Face Hub at runtime, under its own license. The PerLoco, UOLM and Repose tasks need their motion/terrain datasets; scripts/setup/sync_data.sh in the VIBE repository stages them. The privileged twins of these tasks are published separately as lkrajan/orcs.

Versioning and provenance

Use the immutable v0.1.0 revision for reproducible downloads. release.json records the exact file paths, byte sizes, checksums, and the validated Mocke/RSL-RL/ORCS revisions. Each task folder also contains a small provenance.json; private W&B run IDs are retained only as lineage identifiers.

License

The checkpoints incorporate SONIC model weights and are distributed under the NVIDIA Open Model License. Licensed by NVIDIA Corporation under the NVIDIA Open Model License.

VIBE-authored code and documentation are BSD-3-Clause. External models, datasets, and assets — the frozen vision backbones included — retain their respective terms; see NOTICE and THIRD_PARTY_NOTICES.md.

These are special-purpose robotics control models. Validate them in simulation before any use on hardware.