SONIC Motion Tracking Report

GEAR-SONIC encoder+decoder tracking on Unitree G1 using the published HuggingFace ONNX models. The clip is a deterministic marching fixture run through the real tracking stack, not a mock decoder path.

Controller: SonicLocomotionController tracking mode (real ONNX, CPU)
Models: nvidia/GEAR-SONIC model_encoder.onnx + model_decoder.onnx
Robot: Unitree G1 29-DOF (lerobot/unitree-g1-mujoco)
Clip: deterministic_march (180 frames @ 50 Hz)
Observed: min torso z=0.743m, mean RMS joint error=0.255rad
Hip spans L/R: 0.663/0.667rad

Constraint Evaluation

Metric	Expected	Actual	Severity	Result
min_torso_z	ge 0.65	0.7433855730204169	critical	PASS
final_tracking_frame	ge 179	179.0	critical	PASS
mean_rms_joint_error	le 0.6	0.2545015075140529	major	PASS
max_rms_joint_error	le 0.95	0.3062019944190979	major	PASS
left_hip_pitch_span	ge 0.1	0.662702739238739	major	PASS
right_hip_pitch_span	ge 0.1	0.667294442653656	major	PASS
left_knee_span	ge 0.1	0.8999443650245667	major	PASS
right_knee_span	ge 0.1	1.0016324520111084	major	PASS
torso_z	ge 0.65	0.7960637142120386	critical	PASS
rms_joint_error	le 0.85	0.212299644947052	major	PASS
torso_z	ge 0.65	0.7950028397257438	critical	PASS
rms_joint_error	le 0.85	0.21850714087486267	major	PASS
torso_z	ge 0.65	0.7474431603556333	critical	PASS
rms_joint_error	le 0.85	0.30155473947525024	major	PASS
torso_z	ge 0.65	0.7439560029065152	critical	PASS
rms_joint_error	le 0.85	0.23315545916557312	major	PASS

initial PASS

Step: 22 | Cameras: global_view, head_camera | Capability: render_camera

global_view

head_camera

left_stride PASS

Step: 60 | Cameras: global_view, head_camera | Capability: render_camera

global_view

head_camera

right_stride PASS

Step: 120 | Cameras: global_view, head_camera | Capability: render_camera

global_view

head_camera

finale PASS

Step: 180 | Cameras: global_view, head_camera | Capability: render_camera

global_view

head_camera