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g1_depth_dodge
nepyope/g1_depth_dodge
g1_depth_dodge is a machine learning model from nepyope. Use it for the machine learning task on the model card, and read the license before you ship it in a product. It is set up for lerobot. The card lists the license as apache-2.0.
Frozen SONIC whole-body controller + seven rank-16 LoRAs on the decoder, conditioned on a 128-d percept from a head depth camera (Theia-Tiny tokens + temporal adapter). PPO, iteration 4000. Consumed by lerobot's Depth…
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Updated Sep 18, 2026
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.onnx153 MB · 100%
At a glance
- Library
- lerobot
- License
- apache-2.0
- Access
- Public
- Created
- Sep 18, 2026
- Updated
- Sep 18, 2026
- SHA
- 10e207cb
Model card
From the Hugging Face model README
G1 depth dodgeball on frozen SONIC (ONNX deploy)
Frozen SONIC whole-body controller + seven rank-16 LoRAs on the decoder, conditioned on a
128-d percept from a head depth camera (Theia-Tiny tokens + temporal adapter). PPO, iteration 4000.
Consumed by lerobot's DepthDodgeController for the Unitree G1.
| file | inputs | outputs |
|---|---|---|
theia_image.onnx | image uint8 [B,224,224] (depth mapped 255 near .. 1 far, 0 invalid) | tokens [B,197,192] fp32 |
perception.onnx | depth_tokens fp32 [1,16,197,192] (16-frame ring at 25 Hz, fp16-rounded) | percept [1,128] |
actor.onnx | tokenizer[1,640], policy[1,930], conditioning[1,768] = concat(tokenizer, percept) | actions[1,29] SONIC-normalized PD residuals, MuJoCo joint order |
Camera contract: 64x96 optical-Z depth in metres, 45 deg vertical FOV, 0 deg pitch, valid 0.2-6 m, 25 Hz.
See manifest.json for the full training config.
- Library
- lerobot
- License
- apache-2.0
- Created
- Sep 18, 2026
- Updated
- Sep 18, 2026