ProtoMotions

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1. 2d
   Metatron v1 brings unified Unitree G1 humanoid control policy

   A report describes Metatron v1 as a single learned policy for the 29-joint Unitree G1 humanoid, handling walking, scene interaction and fall recovery. The MaskedMimic-style transformer student was released under the NVIDIA Open Model License and integrated with ProtoMotions. The release contains three non-interchangeable packages: a native PyTorch checkpoint of about 459 MB for simulator and supervised real-robot workflows, a single-robot browser ONNX pipeline, and a six-robot batched ONNX network requiring external observation processing. All three use epoch-6410 weights, while the ONNX exports run on MuJoCo WASM and ONNX Runtime Web through WebGPU or WASM.

   r/LocalLLaMA · 🔥 2

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