ViBe release models

Public release checkpoints for ViBe — Visual Behavior adaptation: vision adapters over a frozen SONIC base on the Unitree G1, one per task family. These are the behavior-validated checkpoints selected from the corresponding private training runs. The W&B project is not required to download or play them.

Play immediately

After installing ViBe and its pinned dependencies:

# Optional: download and verify every checkpoint up front.
bash scripts/setup/download_released_models.sh

# Or let play download only the selected checkpoint on first use.
play Vibe-Repose-BigCubeFloor-ImgFeat-Ext --agent release --viewer native
play Vibe-PerLoco-Grail-ImgFeat-Ext       --agent release --viewer native
play Vibe-PerLoco-OmRe-ImgFeat-Ext        --agent release --viewer native --num-envs 27
play Vibe-Uolm-ImgFeat-Ext                --agent release --viewer native
play Vibe-Dodge-ConeFast-ImgFeat-Ext      --agent release --viewer native

Downloads are cached by release tag under ~/.cache/vibe/releases by default and are verified against the SHA-256 values in release.json. Set VIBE_RELEASE_ROOT to move the cache.

Contents

task	checkpoint	training iteration
Vibe-Dodge-ConeFast-ImgFeat-Ext	Vibe-Dodge-ConeFast-ImgFeat-Ext/checkpoint.pt	14,999
Vibe-PerLoco-Grail-ImgFeat-Ext	Vibe-PerLoco-Grail-ImgFeat-Ext/checkpoint.pt	14,999
Vibe-PerLoco-OmRe-ImgFeat-Ext	Vibe-PerLoco-OmRe-ImgFeat-Ext/checkpoint.pt	14,999
Vibe-Repose-BigCubeFloor-ImgFeat-Ext	Vibe-Repose-BigCubeFloor-ImgFeat-Ext/checkpoint.pt	59,999
Vibe-Uolm-ImgFeat-Ext	Vibe-Uolm-ImgFeat-Ext/checkpoint.pt	24,999

Each .pt file is the complete RSL-RL training checkpoint: actor (frozen SONIC base, LoRA adapter, attention extractor), critic, optimizer state, and iteration. ViBe loads the actor for inference. The four deployment exports below are also available; export-agent <task> produces new exports from your own checkpoints.

The frozen vision backbone is separate from the .pt checkpoints. Training fetches it from its upstream repository; deployment uses the exported encoder in encoders/, under its own license. The PerLoco, UOLM and Repose tasks need their motion/terrain datasets; scripts/setup/sync_data.sh in the ViBe repository stages them. The privileged twins of these tasks are published separately as lkrajan/orcs.

Deploy on the G1

Use vibe_ws for the simulator and ROS 2 commands. Keep each ONNX file beside its matching .manifest.json.

sample	policy + manifest, beside checkpoint.pt
walk	Vibe-PerLoco-Grail-ImgFeat-Ext/model_14999.{onnx,manifest.json}
parkour	Vibe-PerLoco-OmRe-ImgFeat-Ext/model_14999.{onnx,manifest.json}
repose	Vibe-Repose-BigCubeFloor-ImgFeat-Ext/model_59999.{onnx,manifest.json}
uolm	Vibe-Uolm-ImgFeat-Ext/model_24999.{onnx,manifest.json}

All four use encoders/theia-tiny.onnx and encoders/theia-tiny.manifest.json (112×63 BGR uint8 input). deployment.json records checksums, checkpoint lineage, historical exporter revisions and validation limits. The encoder is a modified ONNX export of frozen Theia. Dodge's checkpoint remains available; it is outside this four-sample deployment bundle.

Deployment downloads use the immutable HF commit recorded in vibe_ws/artifacts.lock.json. The original v0.1.0 tag remains the checkpoint-only release.

Versioning and provenance

Use the immutable v0.1.0 revision for reproducible training-checkpoint downloads. release.json records the exact file paths, byte sizes, checksums, and the validated Mocke/RSL-RL/ORCS revisions. Each task folder also contains a small provenance.json; private W&B run IDs are retained only as lineage identifiers.

License

The checkpoints incorporate SONIC model weights and are distributed under the NVIDIA Open Model License. Licensed by NVIDIA Corporation under the NVIDIA Open Model License.

ViBe-authored code and documentation are BSD-3-Clause. External models, datasets, and assets — the frozen vision backbones included — retain their respective terms; see NOTICE and THIRD_PARTY_NOTICES.md.

These are special-purpose robotics control models. Validate them in simulation before any use on hardware.