Metatron v1: NVIDIA's Unified Humanoid Control Policy for the Unitree G1

Metatron v1 is a single learned policy that handles walking, scene interaction and fall recovery for the 29-joint Unitree G1 humanoid. It's a MaskedMimic-style transformer student, released under the NVIDIA Open Model License and integrated with ProtoMotions. The release comes in three non-int

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Metatron v1 is a single learned policy that handles walking, scene interaction and fall recovery for the 29-joint Unitree G1 humanoid. It's a MaskedMimic-style transformer student, released under the NVIDIA Open Model License and integrated with ProtoMotions. The release comes in three non-int