Unitree G1 Turn Dance — SONIC ONNX

Step-2000 ONNX exports for a Unitree G1 turn-dance motion-tracking experiment based on NVIDIA SONIC. These are simulation research artifacts, not a physical-robot deployment package.

Files

model_step_002000_encoder.onnx and model_step_002000_decoder.onnx: exported encoder and policy decoder.
model_step_002000_g1.onnx, model_step_002000_teleop.onnx, and model_step_002000_smpl.onnx: additional exported graphs for the corresponding input modes.
observation_config.yaml: observation and encoder-mode configuration.
parity.json: recorded PyTorch-versus-ONNX output comparisons for the five graphs. The largest recorded absolute difference is 3.34e-6; this is export parity, not a robustness or hardware-safety test.

Related resources

The model was not validated for safe deployment on a physical G1. Consult the repository and the upstream SONIC project for runtime integration and dependency information.

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