SONIC X2

• GIF

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Inspiration

Nvidia sonic checkpoint has been a very successful humanoid whole body control model, but was released only for the unitree g1. I went on a mission to make it work for other robots as well.

What it does

Ports the same model for a completely new embodiment - Agibot X2 Ultra

How we built it

Build the entire pipeline from scratch - retargetting bones studio dataset, training sonic from scratch on the Nebius cloud for several days, deploying on a real robot and demo in public events.

Challenges we ran into

Several challenges over the course of many months, but biggest challenge was to make it run safely on a real robot.

Accomplishments that we're proud of

Several researchers and PhD students reached out to me and are already using my open source model and code for their work.

What we learned

Humanoids can be trained to eventually become autonomous safe robots in households.

What's next for SONIC X2

Sonic is just a foundation for humanoids to perform autonomously. Now that we have a base model, we will work integrating with VLAs like Groot

Built With

• claude
• cursor
• fable
• opus