GEAR-SONIC

Real CPU planner_sonic.onnx run inside the MuJoCo-backed G1 showcase, driven by an explicit staged velocity-tracking script instead of a single constant command. This page keeps the full charts, playback, and downloadable artifacts.

Generated: 2026-04-24 02:27:15Z Commit: f1b940ac0f78 Actions run

GEAR-SONIC

NVIDIA GR00T · Planner-only velocity tracking on the published G1 planner contract

gear_sonic

BAD REAL MUJOCO SIM VELOCITY_SCHEDULE runtime.velocity_schedule

Real CPU planner_sonic.onnx run inside the MuJoCo-backed G1 showcase, driven by an explicit staged velocity-tracking script instead of a single constant command.

Robotunitree_g1_gear_sonic

Ticks400

Avg inference4.060 ms

Achieved rate44.69 Hz

Target positions

Body vx command vs actual

Yaw rate command vs actual

Inference latency

Embedded Rerun viewer Fetches run.rrd lazily when the viewer enters the viewport.

Preparing interactive view Loads the viewer runtime and recording on demand when visible.

Case key gear_sonic

Policy family gear_sonic

Command kind velocity_schedule

Expected behavior Planner-only velocity tracking on the published G1 planner contract

Showcase transport MuJoCo sim

Embodiment assets/robots/unitree_g1/g1_29dof.xml

MuJoCo model variant meshless-public-mjcf+ground-plane

Command data [2.000, 0.000, 0.000, 0.000, 0.600, 0.000, ...]

Checkpoint source Published GEAR-SONIC ONNX checkpoints

Demo family Velocity tracking

Demo sequence Stand, accelerate from 0.0 to 0.6 m/s over 2 s, command a 90 degree right turn over 1 s, accelerate into a 1.0 m/s run over 3 s, then settle back to stand.

Model artifact models/gear-sonic/planner_sonic.onnx

Command source runtime.velocity_schedule

First target frame [-0.169, -0.085, 0.223, 0.880, -0.157, -0.089, ...]

Last target frame [-0.203, 0.061, 0.092, 0.146, 0.206, -0.029, ...]

Quality verdict BAD

Verdict basis achieved rate 44.7 Hz < 45

Mean joint error 0.119 rad

Joint error p95 0.414 rad

Peak joint error 2.769 rad

Min base height 0.713 m

Frames height < 0.4 m 0

VX RMSE 0.306 m/s

Yaw RMSE 0.772 rad/s

Heading change 2.5 deg

Forward distance 3.087 m

Rerun recording · JSON summary · run log · Proof-pack manifest · configs/showcase/gear_sonic_real.toml

Visual checkpoints

Each image overlays the target pose in blue against the actual replayed pose in orange. The checkpoints are selected from the replay trace so you can cross-check startup, motion onset, peak latency, furthest progress, and final state without opening a second report.