NVIDIA open-sources Metatron v1, a unified humanoid control policy for Unitree G1
Balance- · reddit · 2026-10-30
NVIDIA released Metatron v1, a single learned policy that handles walking, scene interaction, and fall recovery for the 29-joint Unitree G1 humanoid.
Key details
- MaskedMimic-style transformer student, released under the NVIDIA Open Model License and integrated with ProtoMotions.
- Three non-interchangeable packages sharing the same epoch-6410 weights:
- Native PyTorch checkpoint (459 MB) keeping posterior and normalization stats, supporting simulator and supervised real-robot workflows;
- Single-robot browser ONNX pipeline (demo/model.onnx, 39 inputs) outputting joint targets, PD gains, and raw actions;
- Six-robot batched ONNX network (racer/network.onnx) relying on external observation processing.
- Both ONNX exports run on MuJoCo WASM and ONNX Runtime Web via WebGPU/WASM, meaning humanoid control can run in the browser.
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