sonic-capoeira-v8

SONIC Capoeira V8

SONIC Capoeira V8 is a Unitree G1 whole-body control policy fine-tuned from NVIDIA SONIC for a dynamic, hand-supported capoeira kick with landing recovery.

Contents

• model_step_000025_encoder.onnx: observation encoder
• model_step_000025_decoder.onnx: action decoder
• observation_config.yaml: deployment observation configuration
• parity.json: PyTorch-to-ONNX numerical parity report

The paired encoder and decoder must be used together with the supplied observation configuration and the matching motion reference dataset.

Training and validation

The policy was fine-tuned in Isaac Sim with landing-contact, capture-point, two-foot-support, joint-speed, knee-torque-reserve, and final-upright rewards. It completed 112/112 Isaac Sim evaluations across nominal and randomized profiles. ONNX parity maximum absolute error was 0 for the encoder and 1.6689300537109375e-6 for the decoder.

In the official C++ MuJoCo closed loop, the selected checkpoint passed the initial safety gate and executed the full 467-frame motion in 10/10 trials. Strict final post-landing stabilization succeeded in 3/10 trials.

Safety limitation

This is a simulation research artifact. It is not real-robot ready and must not be deployed on a physical G1 without additional safety validation, hardware limits, supervision, and a reliable recovery controller.

Code and results

https://github.com/danniely/ultimate-bots-G1

Dataset

https://huggingface.co/datasets/hyunho7979/sonic-capoeira-v8