AI BriefingNVIDIA Releases Metatron v1 Unified Control Policy for Unitree G1 Humanoid
·2026.10.30 16:09
Key point
The MaskedMimic-style transformer student uses epoch-6410 weights to handle walking, scene interaction, and fall recovery for the 29-joint robot.
Details
- NVIDIA released Metatron v1, a unified learned policy for the 29-joint Unitree G1 humanoid that manages walking, scene interaction, and fall recovery.
- The model is a MaskedMimic-style transformer student released under the NVIDIA Open Model License and integrated with ProtoMotions.
- The release includes three non-interchangeable packages sharing epoch-6410 weights: a native PyTorch checkpoint (~459 MB) for simulator and supervised real-robot workflows, a single-robot browser ONNX pipeline (demo/model.onnx) with 39 inputs, and a six-robot batched ONNX network (racer/network.onnx).
- Both ONNX exports run on MuJoCo WASM and ONNX Runtime Web via WebGPU or WASM, with the batched network relying on external observation processing.
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