---
license: cc-by-sa-4.0
language:
  - et
tags:
  - text-to-speech
  - automatic-speech-recognition
  - piper
  - onnx
  - whisper.cpp
  - robotics
---

# Go2 dock models

Estonian speech models that Meridein's Unitree Go2 EDU docks run: the
voices (Pocket TTS, Piper) and speech recognition (Whisper). All are
derived from public models, converted or packed for the dock's Jetson. A dock downloads them at a
pinned commit and checks each file's sha256 before using it.

**Files are never overwritten here.** A new version gets a new file name, so
a release that pins a commit and a sha256 keeps working.

| file | what | size | sha256 |
|---|---|---|---|
| `pocket-cpp-et.tar.gz` | Pocket TTS, Estonian, as ONNX for PocketTTS.cpp (one folder, `pocket-cpp-et/`) | 436 064 256 | `1cf3ae8b3eab0724a023a8e5852272e0a870fccbd5fe7bc61a48940a680cd3ca` |
| `ggml-whisper-large-v3-turbo-et-verbatim-2604-q5_0.bin` | Whisper large-v3-turbo, Estonian, q5_0 for whisper.cpp | 574 041 195 | `ec401581b6ac1788b4eff8b92c5257a65bf24b50be1e488387fd9760166a1ad7` |
| `vits-piper-et_EE-news-medium.tar.gz` | Piper's Estonian news voice (four speakers) for sherpa-onnx (one folder, `vits-piper-et_EE-news-medium/`) | 80 299 072 | `55ef843f59f38a67d6acf5c6b9c62a913516784c6f529ae1c92359f61a45d927` |

## `pocket-cpp-et.tar.gz`: Pocket TTS, Estonian (ONNX)

- **Run by** [PocketTTS.cpp](https://github.com/VolgaGerm/PocketTTS.cpp) at
  `e801e7d`, with `--precision int8`. The int8 set is what runs; the fp32
  files are kept beside it.
- **Made from** [cbentes/pocket-tts-estonian](https://huggingface.co/cbentes/pocket-tts-estonian):
  the weights and tokenizer at `e8d2fd9cc01ae6e4e505269adcc1d9bdaecbea0f`,
  the config and the six voice clips at
  `b37e49dd65514fb79a05cff2ace696e24af15d66`. Exported with pocket-tts
  2.1.0 and PocketTTS.cpp's `export_onnx.py` at `e801e7d`; the
  beginning-of-sequence before the voice is in `mimi_encoder.onnx`.
  `export_info.json` inside records the same.
- **Licence:** CC BY-SA 4.0, as the weights it is made from, which were
  trained on the TalTech Estonian Speech Dataset 1.0. Credit:
  cbentes/pocket-tts-estonian and TalTech. Changes: converted to ONNX and
  quantised to int8. Share-alike: this derivative is under the same licence.

## `ggml-whisper-large-v3-turbo-et-verbatim-2604-q5_0.bin`: Whisper, Estonian

- **Run by** `whisper-server` ([whisper.cpp](https://github.com/ggml-org/whisper.cpp)),
  language `et`.
- **Made from** [TalTechNLP/whisper-large-v3-turbo-et-verbatim-2604](https://huggingface.co/TalTechNLP/whisper-large-v3-turbo-et-verbatim-2604),
  its ggml model (`ggml/ggml-model.bin`, sha256 `4e231f931f029850d7ca497efe4223f85c495a27d986d955f9a577ac1cd02edb`),
  quantised to `q5_0` with whisper.cpp's quantize tool (whisper.cpp
  `60c0be6`). The quantised model needs about 1 GB less memory.
- **Licence:** that of TalTechNLP's model, which this file is derived from.
  See their model card; credit: TalTech (Tallinn University of Technology).
  The repository's `cc-by-sa-4.0` tag is the Pocket model's.

## `vits-piper-et_EE-news-medium.tar.gz`: Piper, Estonian

- **Run by** [sherpa-onnx](https://github.com/k2-fsa/sherpa-onnx)'s VITS
  engine; speakers Albert 0, Kalev 1, Mari 2, Vesta 3.
- **Made from** [rhasspy/piper-voices](https://huggingface.co/rhasspy/piper-voices)
  at `e7229f7d33a10e145e109b886d661984201ac3c4`, `et/et_EE/news/medium/`:
  sherpa-onnx's metadata written into the `.onnx`, `tokens.txt` from the
  `.onnx.json` (the five two-letter vowels left out: unused without
  `vowel_clusters`), and the espeak-ng data from sherpa-onnx's
  `vits-piper-en_US-lessac-medium` package (it includes Estonian).
  Rebuilt the same, byte for byte, by `tools/models/piper_et.sh` in
  unitree-go2-dev.
- **Licence:** the voice's dataset is CC BY (the Speech Corpus of Estonian
  News Sentences, META-SHARE "Available - Unrestricted Use"; see
  `MODEL_CARD` inside). The espeak-ng data is espeak-ng's, GPL-3.0.

## Checking a download

```bash
sha256sum -c SHA256SUMS
```