BlackCatRoboticsAI/g1-sonic-base

GEAR-SONIC: Whole-Body Humanoid Control

SONIC (Supersizing Motion Tracking) — NVIDIA's humanoid behavior foundation model for natural whole-body control. Provides a unified policy for walking, running, jumping, manipulation, and more.

Model Details

Field	Value
License	NVIDIA Open Model License (commercial use ✅)
Robot	Unitree G1 (29-DoF)
Input	Observations (joint states, IMU, motion references)
Output	29-dim joint position targets
Control Frequency	50Hz
Format	ONNX (encoder + decoder + planner)

Variants

Variant	Use Case	Lookahead
default	General-purpose motion tracking	200ms
low_latency	Teleoperation, VLA execution	80ms
sonic_v1_1	Heading-normalized teleoperation	200ms

Quick Start

from huggingface_hub import snapshot_download
import onnxruntime as ort
import numpy as np

# Download model
snapshot_download(repo_id="BlackCatRoboticsAI/g1-sonic-base", local_dir="./g1-sonic")

# Load models
encoder = ort.InferenceSession("./g1-sonic/model_encoder.onnx")
decoder = ort.InferenceSession("./g1-sonic/model_decoder.onnx")

# Run inference
obs = np.random.randn(1, 1762).astype(np.float32)
tokens = encoder.run(None, {"obs_dict": obs})
action = decoder.run(None, {"obs_dict": obs})

Features

• 🤖 Unified Whole-Body Control: Single policy handles walking, running, crawling, jumping, manipulation
• 🎮 Real-Time Teleoperation: VR-based whole-body teleoperation via PICO headset
• 🚀 Hardware Deployment: C++ inference stack, runs on Jetson
• 🎨 Kinematic Planner: Real-time locomotion with multiple movement styles
• 🔄 Multi-Modal Control: Keyboard, gamepad, VR, high-level planning

Teleoperation

SONIC supports real-time whole-body teleoperation via PICO VR headset:

• Walking, running, sideways movement
• Kneeling, getting up, jumping
• Bimanual manipulation, object hand-off

Citation

@article{luo2025sonic,
  title={SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control},
  author={Luo, Zhengyi and Yuan, Ye and Wang, Tingwu and others},
  journal={arXiv preprint arXiv:2511.07820},
  year={2025}
}

License

NVIDIA Open Model License — commercial use permitted with attribution. See NVIDIA Open Model License for full terms.