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.
The release combines one humanoid control policy with PyTorch, simulator and browser-oriented ONNX artifacts, providing multiple formats for working with the same trained policy.
| Metatron v1 is a single learned policy that handles walking, scene interaction and fall recovery for the 29-joint Unitree G1 humanoid. It's a MaskedMimic-style transformer student, released under the NVIDIA Open Model License and integrated with ProtoMotions. The release comes in three non-interchangeable packages. All three share the same epoch-6410 weights, and both ONNX exports run on MuJoCo WASM and ONNX Runtime Web via WebGPU or WASM. submitted by /u/Balance- [link] [comments] |
#Metatron v1#NVIDIA#Unitree G1#ProtoMotions#MaskedMimic#PyTorch#ONNX#MuJoCo#ONNX Runtime Web#WebGPU