StudioNVIDIA releases Metatron v1, a unified humanoid control policy for the Unitree G1
Original title: Metatron v1: NVIDIA's Unified Humanoid Control Policy for the Unitree G1
NVIDIA released Metatron v1 on Hugging Face, a unified humanoid control policy for the Unitree G1 (29 controlled joints) where walking, scene interaction and recovery share one policy, integrated with ProtoMotions. The repo includes a native PyTorch checkpoint (459,455,983 bytes with SHA256) plus two ONNX browser exports: single-robot demo/model.onnx (403,375,789 bytes) and a six-robot batched racer/network.onnx (403,036,698 bytes), with non-interchangeable interfaces. Browser integrations use MuJoCo WASM and ONNX Runtime Web (WebGPU recommended); exports were checked on 60 test states with max absolute action error 5.55e-6. The model is under the NVIDIA Open Model License with Apache-2.0 source, and no training dataset or training checkpoint is included; the post is a relay from r/LocalL…
The model card details weight structure, interface differences, numerical validation and licensing boundaries, letting readers assess browser or real-robot deployment feasibility.
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