bwrooney/g1_backend-checkpoints

g1_backend checkpoints

Exported whole-body control policies for the Unitree G1, packaged for the g1_backend deployment stack (importable as sim2real) and for tele_humanoid_benchmark's g1_bridge.

These are deploy artifacts converted from upstream research code, not original training runs. See Provenance before redistributing.

Install

From a tele_humanoid_benchmark checkout (resolves the g1_backend repo root for you, skips files already present, supports per-family download):

python -m robocasa.scripts.download_g1_checkpoints --all
python -m robocasa.scripts.download_g1_checkpoints --family sonic

Or directly:

unset all_proxy ALL_PROXY   # the Hub client's httpx does not speak SOCKS
hf download bwrooney/g1_backend-checkpoints --local-dir <g1_backend>/checkpoints

--local-dir matters. This repo holds the four family folders at its root, so downloading without pointing at checkpoints/ scatters sonic/, amo/, heft/ and scalebfm/ into the g1_backend repo root — where, unlike checkpoints, they are not gitignored.

Do not fetch these on the robot. The G1 runs with HF_HUB_OFFLINE=1; checkpoints reach it via sync-robot.sh.

Contents

979 MiB, 14 files, four families. Each family's policy.yaml is the entry point the backend loads.

family	path	consumed by	size
sonic	sonic/low_latency/g1/	g1_bridge/backends/sonic.py	924.7 MiB
heft	heft/pmg/	g1_bridge/backends/generic.py	23.2 MiB
amo	amo/	g1_bridge/backends/amo.py	18.6 MiB
scalebfm	scalebfm/humanoid_transformer_m/	g1_bridge/backends/generic.py	12.4 MiB

amo/
  amo_jit.pt                17,819,339   TorchScript whole-body policy
  adapter_jit.pt             1,661,974
  adapter_norm_stats.pt          1,996
  policy.yaml                    5,636
heft/pmg/
  policy.onnx               24,324,327
  policy.yaml                   10,374
  policy.json                      705
scalebfm/humanoid_transformer_m/
  policy.onnx               13,021,189
  policy.yaml                   12,137
  policy.json                      327
sonic/low_latency/g1/
  planner_sonic.onnx       773,952,989   GR00T kinematic planner
  model_decoder.onnx       149,763,762
  model_encoder.onnx        45,933,505
  policy.yaml                    5,414

SONIC ships an encoder/decoder pair rather than a single fused policy.onnx; g1_backend's SplitOnnxBridgeTracking is selected automatically when that key is present.

Scope

This release contains exactly the four families above. Some code and docs in the two repos reference paths that are not part of it:

• sonic/release/* — g1_bridge/sonic_utils/ckpt.py declares a release variant; only low_latency ships, and it is the default (--sonic-ckpt new).
• sonic/low_latency/smpl/policy.yaml — a fallback in g1_bridge/configs/g1_sonic.json, overwritten at runtime before it is read.
• sonic/release/smpl/human_joints_info.pkl — used by sim2real/teleop/smpl_stream.py.
• heft/pmg/policy-semantic.yaml — generic.py's default_policy_config, which POLICY_CONFIGS supersedes.
• mimic-lite/*, bfm-zero/*, holomotion/* and other families listed in the g1_backend README.

None of these are on the benchmark's runtime path.

Provenance

Converted deploy artifacts from upstream research projects, not original training runs:

• sonic — NVIDIA GEAR-SONIC / GR00T-WholeBodyControl (low-latency variant)
• scalebfm — ScaleBFM (humanoid_transformer_m)
• amo, heft — converted for this deployment stack

License: the upstream terms differ per family and are not asserted here. license: other is a placeholder — check each upstream project's terms before redistributing or using commercially.