NVIDIA publishes Metatron v1 ONNX models for Unitree G1 humanoid control
Overview
NVIDIA publishes ONNX inference exports of its Metatron v1 policy for the 29-joint Unitree G1 humanoid, covering walking, scene interaction and recovery in one network.
The files are demo/model.onnx for the single-robot Metatron browser demo (about 403 MB) and racer/network.onnx for the six-robot batched G1 Racer (about 403 MB). Both run on ONNX Runtime Web, and neither is a complete demo without its matching browser application.
The models can be downloaded anonymously under the NVIDIA Open Model License Agreement, with attribution required in NOTICE.txt. No training dataset or training checkpoint is included. NVIDIA says the models are not safety-certified or validated on real hardware.
Written by AI from the articles below · updated Oct 27, 7:45 PM ET
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The articles in this story. Times are ET.
- NVIDIA · new models on Hugging FaceOfficialNVIDIA releases Metatron browser ONNX models for Unitree G1 humanoid control
AINVIDIA publishes ONNX inference exports of its unified Metatron G1 scene and recovery policy, used by the Metatron browser demo and G1 Racer. The demo model takes 39 inputs and outputs joint PD targets, gains and raw actions, while the six-robot Racer network runs all robots in one batch. The files run on ONNX Runtime Web with WebGPU or WebAssembly, and NVIDIA says they are not safety-certified or validated on real hardware.
- NVIDIA · new models on Hugging FaceOfficialnvidia/Metatron-v1 releases ONNX exports for Unitree G1 humanoid control
AINVIDIA 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.
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