Motius HumanoidGPT G1
This artifact contains the official non-privileged Humanoid-GPT 216 ONNX policy and the complete Unitree G1-5010 MuJoCo asset tree.
It requires Python 3.10 or newer and ONNX Runtime 1.18 or newer because the official graph uses ONNX IR 10 / opset 20.
from motius import Pipeline
pipe = Pipeline.from_pretrained("ZeyuLing/Motius-HumanoidGPT-G1")
out = pipe.infer_motion_tracking(observation) # [B, 136]
infer_motion_tracking runs one controller step. A complete physical rollout
must supply simulator/robot state observations at 50 Hz and apply the returned
29-DOF action under the gains and ordering declared by the artifact.