# nvidia/Metatron-v1 releases ONNX exports for Unitree G1 humanoid control

> Original title: nvidia/Metatron-v1

- Source: NVIDIA · new models on Hugging Face
- Published: 2026-10-27T21:43:16.000Z
- Bad Influence: https://badinfluence.news/items/j1qm9b12w5fc54q6sw6dpxmgj
- Original: https://huggingface.co/nvidia/Metatron-v1

## Summary

NVIDIA publishes ONNX inference exports of Metatron v1, a unified MaskedMimic-style transformer policy for the 29-joint Unitree G1 humanoid that handles walking, scene interaction and recovery in one network. The files are demo/model.onnx (403,375,789 bytes, single-robot pipeline) and racer/network.onnx (403,036,698 bytes, six-robot batched network), both run with ONNX Runtime Web and are not complete demos without their matching browser applications.