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v1.0: pretrained models and real-robot demo
Pretrained checkpoints and the real-robot demo video for SuperMimic-Repro-Sim2Real.
| File | What it is |
|---|---|
e11c_0220000.tar.gz |
Base model trained on BONES-SEED (paper observation). Training checkpoint + ONNX deploy bundle. |
e13i_0291000.tar.gz |
Fine-tuned from the base model on BONES-SEED + the 4 custom dances in motions/custom_dance/. This model ran the ~46 s dance on a real G1. |
shanshenbu_real_robot_v3.mp4 |
Real-robot demo video (闪身步 / shanshenbu), human source video on the left, real G1 on the right, ~46 s, 720p. |
SHA256SUMS |
Checksums. |
Each tarball contains ckpt_*.pt, policy.onnx, policy_ir9.onnx (for the older onnxruntime on the robot's onboard PC2) and deploy_config.json.
Usage: tar -xzf e13i_0291000.tar.gz -C deploy_artifacts/, re-run the sim2sim gates (docs/SIM2SIM.md), then follow docs/DEPLOY_G1.md. Always run on a hoist with someone holding the remote (L2+B = damping). Use at your own risk.
Both models were trained on BONES-SEED; check its data terms before use. The code builds on CuboiLeo/SuperMimic-Reproduced (Yuxi Liu, MIT).