oniichan521/G1-Five-Step-Chain-Fist

G1 Wubuquan (Five-Step Fist) — SONIC fine-tuned policy (ONNX)

ONNX exports of the fine-tuned SONIC policy that makes a Unitree G1 humanoid perform a ~13.0-second Wubuquan-inspired martial-arts routine (Kimodo-generated): 5 stance types, straight punches and palm strikes, two direction changes, ~3.06 m net root displacement.

License: these weights are derivative models of NVIDIA's SONIC model — Licensed by NVIDIA Corporation under the NVIDIA Open Model License. See the LICENSE / NOTICE in the GitHub companion repository.

Performance

Apples-to-apples (no tracking termination; stock physically falls at ~4.5 s, so all models are compared on the same 0–4.5 s window):

Metric	Stock SONIC (before)	Fine-tuned V1.1 (after)
mpjpe_g (global)	198.1 mm	76.0 mm (−62 %)
mpjpe_l (root-aligned)	41.4 mm	33.0 mm (−20 %)
mean root-position error	190.1 mm	64.1 mm (−66 %)

Full-horizon (no tracking termination, all 649 samples): 133.1 mm mpjpe_g / 46.8 mm mpjpe_l / 123.7 mm root error. The complete matrix (matched-window, full-horizon, official terminated pipeline) is in the GitHub repo's eval/metrics.md.

Files

• model_step_001500_* — final policy (V1.1; 1500 more iterations, lr 1e-5, anchor std 0.2). Use this one. Five exports: decoder, encoder, g1, smpl, teleop.
• model_step_003000_* — alternate V1 policy trained on a shorter 5.14 s in-place backup clip (action_clip_martial_fixed, mpjpe_g 103.8 mm); reference only, not the submission model.

Details

• Training: SONIC/GEAR-SONIC, 2048 envs, L40S, 4000 iters (V1) then +1500 iters root-focused refinement (V1.1 final). Exact run config in the GitHub run-config-v11 release; full campaign history in docs/TUNING-NOTES.md (including two rejected experiments).
• Companion dataset repo (motion CSVs + SONIC motion_lib pkl).
• GitHub: https://github.com/qjwdlwjdl/G1-Wubuquan-Five-Step-Fist

Credit

Motion Data by Bones Studio