oniichan521/zest-g1-cartwheel-onnx

SONIC G1 Cartwheel — ONNX Policy

Exported ONNX policy for the G1 cartwheel motion-imitation agent (GEAR-SONIC / SONIC fine-tune). Exported with +export_onnx_only=true from the final checkpoint (Stage 3, 1500 iterations of root-refinement fine-tuning; full pipeline in the private GitHub repo qjwdlwjdl/G1-Zest-Cartwheel).

Files

File	Role
model_step_001500_teleop.onnx	teleoperation head
model_step_001500_encoder.onnx	observation encoder
model_step_001500_decoder.onnx	action decoder / policy head
model_step_001500_g1.onnx	G1 model export
model_step_001500_smpl.onnx	SMPL export

Evaluation (full ~7.1 s / 352-step window, 32 rollouts)

• All-rollout averages: mpjpe_g 101.5 mm · mpjpe_l 41.3 mm · root drift 90.5 mm.
• Best rollout: best-rollout mean mpjpe_g = 58 mm over the full window; best-rollout final-frame mpjpe_g = 33 mm; pelvis 0.788 m at the end (reference 0.787 m) — the best episode completes the cartwheel and returns to standing.
• Stock sonic_release baseline under the identical protocol: 913.7 mm.

Renders: before/after videos in the linked GitHub repo — the stock model collapses at the start of the move; the fine-tuned model completes the move and lands standing.

Attribution

• Base weights: nvidia/GEAR-SONIC (NVIDIA, GEAR-SONIC / SONIC).
• Task reference: ZEST (10.5281/zenodo.21135719, CC-BY-4.0).
• Simulation: Isaac Lab v2.3.2 / Isaac Sim 5.1.0.
• Motion Data by Bones Studio.