Pending benchmarksTracking since Oct 28, 2026
Is Metatron v1 state of the art?Pending benchmarks.Announced Oct 27, 2026; no independent results yet.
NVIDIA's humanoid control policy for the Unitree G1 robot (29 joints): one policy handles walking, scene interaction such as sitting on furniture, and getting back up after a fall. It is a MaskedMimic-style conditional VAE trained in IsaacLab, published as a PyTorch checkpoint and two ONNX exports that run a browser demo. Weights on Hugging Face under the NVIDIA Open Model License; code is Apache-2.0.
Announced facts
The details so far
- Lab
- NVIDIA (nvidia Hugging Face org; integrated with NVlabs' ProtoMotions)
- Announced
- Oct 27, 2026
- API
- Not yet
- Open weights
- Published on Hugging Face under the NVIDIA Open Model License; source code Apache-2.0; motion datasets not included
- Type
- Robot control policy (humanoid locomotion, recovery and scene interaction), not a language model
- Robot
- Unitree G1, 29 controlled joints; outputs joint PD targets
- Architecture
- MaskedMimic spherical conditional VAE: 64-dimensional latent, Transformer prior with 6 layers, 4 heads, width 1024, and a conditioned action decoder
- Training
- IsaacLab, supervised imitation from frozen motion-tracking, recovery and scene-interaction experts; data from BONES, AMASS/LAFAN, fall recovery and SAMP
- Artifacts
- Native PyTorch checkpoint (459 MB) and two FP32 ONNX exports (about 403 MB each): a single-robot browser demo and the six-robot G1 Racer
- Runs in
- ONNX Runtime Web (WebGPU or WebAssembly) with MuJoCo WASM in the browser; MuJoCo and IsaacLab via ProtoMotions; a real G1 with supervision
- Parameters
- Not disclosed
Tags marked unsure are not stated on the lab's own pages.
Next steps
What would let us call it
Verdicts use only independent boards we already track. Two consecutive snapshots are required before any crown.
- Publicly announced with a source
- Usable by the public (API or weights)
- Listed on an independent board we track
- Enough results for a rank in a category
- Holds across two snapshots (crowns only)
Receipts
Sources
REPOnvidia/Metatron-v1 on Hugging Facehuggingface.co/nvidia/Metatron-v1 · Oct 27, 2026REPOMetatron v1 G1 model cardhuggingface.co/nvidia/Metatron-v1/blob/main/G1/MODEL_CARD.md · Oct 27, 2026LABProtoMotions docs: Metatron Browser Demo (NVlabs)nvlabs.github.io/ProtoMotions/user_guide/browser_demo.htmlLABProtoMotions docs: G1 Racer (NVlabs)nvlabs.github.io/ProtoMotions/user_guide/g1_racer.htmlLABProtoMotions docs: Metatron G1 Student (NVlabs)nvlabs.github.io/ProtoMotions/user_guide/metatron_student.htmlTracking continues until an independent board lists it.