{"id":"metatron-v1","slug":"metatron-v1","name":"Metatron v1","orgId":"nvidia","family":"metatron-v1","releaseDate":null,"availability":"announced","openWeights":true,"license":null,"paramsTotal":null,"paramsSource":null,"contextWindow":null,"knowledgeCutoff":null,"modelCardUrl":"https://huggingface.co/nvidia/Metatron-v1","hfRepo":null,"modalities":["robotics"],"aliases":["Metatron v1","metatron v1","metatron-v1","nvidia/metatron-v1","nvidia metatron","nvidia metatron v1","metatron g1"],"aliasNote":null,"origin":"tracked","tracked":{"trackedSince":"2026-10-28","announced":"2026-10-27","blurb":"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.","api":"none","openWeights":"yes","facts":[{"label":"Lab","value":"NVIDIA (nvidia Hugging Face org; integrated with NVlabs' ProtoMotions)"},{"label":"Type","value":"Robot control policy (humanoid locomotion, recovery and scene interaction), not a language model"},{"label":"Robot","value":"Unitree G1, 29 controlled joints; outputs joint PD targets"},{"label":"Architecture","value":"MaskedMimic spherical conditional VAE: 64-dimensional latent, Transformer prior with 6 layers, 4 heads, width 1024, and a conditioned action decoder"},{"label":"Training","value":"IsaacLab, supervised imitation from frozen motion-tracking, recovery and scene-interaction experts; data from BONES, AMASS/LAFAN, fall recovery and SAMP"},{"label":"Artifacts","value":"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"},{"label":"Runs in","value":"ONNX Runtime Web (WebGPU or WebAssembly) with MuJoCo WASM in the browser; MuJoCo and IsaacLab via ProtoMotions; a real G1 with supervision"},{"label":"Weights","value":"Published on Hugging Face under the NVIDIA Open Model License; source code Apache-2.0; motion datasets not included"},{"label":"Parameters","value":"Not disclosed"}],"sources":[{"kind":"repo","title":"nvidia/Metatron-v1 on Hugging Face","url":"https://huggingface.co/nvidia/Metatron-v1","date":"2026-10-27"},{"kind":"repo","title":"Metatron v1 G1 model card","url":"https://huggingface.co/nvidia/Metatron-v1/blob/main/G1/MODEL_CARD.md","date":"2026-10-27"},{"kind":"lab","title":"ProtoMotions docs: Metatron Browser Demo (NVlabs)","url":"https://nvlabs.github.io/ProtoMotions/user_guide/browser_demo.html"},{"kind":"lab","title":"ProtoMotions docs: G1 Racer (NVlabs)","url":"https://nvlabs.github.io/ProtoMotions/user_guide/g1_racer.html"},{"kind":"lab","title":"ProtoMotions docs: Metatron G1 Student (NVlabs)","url":"https://nvlabs.github.io/ProtoMotions/user_guide/metatron_student.html"}],"firstBenchmark":null},"organization":{"id":"nvidia","name":"NVIDIA","slug":"nvidia","country":null,"url":null,"color":"#76B900","mark":"N"},"price":null,"answer":{"word":"Pending benchmarks.","scope":"Announced Oct 27, 2026; no independent results yet.","lead":"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.","confidence":"low"},"status":"PENDING_BENCHMARKS","verdicts":[]}