# Is Metatron v1 SOTA?

Pending benchmarks. Announced Oct 27, 2026; no independent results yet.

As of Nov 3, 2026, Metatron v1 is pending benchmarks on isitsota: announced Oct 27, 2026, with no independent results on the boards we track 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.

Canonical: https://isitsota.com/m/metatron-v1
Last updated: 2026-10-28
Tracking since: 2026-10-28

## Announced facts

| Fact | Value |
| --- | --- |
| 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.

## What would let us call it

Verdicts use only independent boards we already track. Two consecutive snapshots are required before any crown.

- [x] Publicly announced with a source
- [x] 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)

## Sources

- REPO: [nvidia/Metatron-v1 on Hugging Face](https://huggingface.co/nvidia/Metatron-v1) (2026-10-27)
- REPO: [Metatron v1 G1 model card](https://huggingface.co/nvidia/Metatron-v1/blob/main/G1/MODEL_CARD.md) (2026-10-27)
- LAB: [ProtoMotions docs: Metatron Browser Demo (NVlabs)](https://nvlabs.github.io/ProtoMotions/user_guide/browser_demo.html)
- LAB: [ProtoMotions docs: G1 Racer (NVlabs)](https://nvlabs.github.io/ProtoMotions/user_guide/g1_racer.html)
- LAB: [ProtoMotions docs: Metatron G1 Student (NVlabs)](https://nvlabs.github.io/ProtoMotions/user_guide/metatron_student.html)

Tracking continues until an independent board lists it.

## Related

- Lab: [NVIDIA](https://isitsota.com/labs/nvidia.md)
- All pending releases: https://isitsota.com/releases.md
- JSON: https://api.isitsota.com/v1/models/metatron-v1