SONIC G1 cartwheel ONNX policy (final, root-refined)

.gitattributes

@@ -0,0 +1 @@
+*.onnx filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,46 @@
+---
+license: other
+tags:
+  - robotics
+  - unitree-g1
+  - cartwheel
+  - onnx
+  - isaac-lab
+---
+
+# 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 (`FT-full-cont-1500-anchor`, 1500 iterations of root-refinement
+fine-tuning; full pipeline in the private GitHub repo
+`qjwdlwjdl/zest-g1-cartwheel-sonic`).
+
+## 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 7.06 s / 352-step window, 32 rollouts)
+
+- mpjpe_g 101.5 mm · mpjpe_l 41.3 mm · root drift 90.5 mm
+- Best rollout: 58 mm mean over the full window, 33 mm final-frame error,
+  pelvis 0.79 m at the end (reference 0.784 m) — completes the cartwheel and
+  returns to standing.
+- Stock `sonic_release` baseline under the same 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 (as required when publicly posting).

model_step_001500_decoder.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db7ac8c5aa900ae62b337a9d4ffab767fd04ccc27018a735854d2bf180d5005a
+size 40868426

model_step_001500_encoder.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b5ac67e1e009a17c43efd4cc90640368169171aae8ad07368903cc9fe7947d6
+size 49949761

model_step_001500_g1.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c51c1003c17eeced549e7f71cc9438047767b44ef5c2576256e2c1527a709f6
+size 57947822

model_step_001500_smpl.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58ff7ab087430ec01bfb07bf4d3b7bbfaa768b9c839ed65512955c3a97fdf2c9
+size 59600909

model_step_001500_teleop.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:501b717f8ade56c012b228b78b66546dcb5bc0f0acc6171c53781b8381177be4
+size 54916394