GEAR-SONIC

GEAR-SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control Model Description SONIC** (Supersizing Motion Tracking) is a humanoid behavior foundation model developed by NVIDIA that gives robots a core set of motor skills learned from large-scale human motion data. Rather than building separate controllers for predefined motions, SONIC uses motion tracking as a scalable training task, enabling a single unified policy to produce natural, whole-body movement and support a wide range of behaviors. Key Features 🤖 **Unified Whole-Body Control**: Single policy handles walking, running, crawling, jumping, manipulation, and more 🎯 **Motion Tracking**: Trained on large-scale human motion data for natural movements 🎮 **Real-Time Teleoperation**: VR-based whole-body teleoperation via PICO headset 🚀 **Hardware Deployment**: C++ inference stack for real-time control on humanoid robots 🎨 **Kinematic Planner**: Real-time locomotion generation with multiple movement styles 🔄 **Multi-Modal Control**: Supports keyboard, gamepad, VR, and high-level planning VR Whole-Body Teleoperation SONIC supports real-time whole-body teleoperation via PICO VR headset, enabling natural human-to-robot motion transfer for data collection and interactive control. Walking Running Sideways Movement Kneeling Getting Up Jumping Bimanual Manipulation Object Hand-off Kinematic Planner SONIC includes a kinematic planner for real-time locomotion generation — choose a movement style, steer with keyboard/gamepad, and adjust speed and height on the fly. In-the-Wild Navigation Run Happy Stealth Injured Kneeling Hand Crawling Elbow Crawling Boxing Quick Start 📚 **See the Quick Start Guide** for step-by-step instructions on: Installation and setup Running SONIC with different control modes (keyboard, gamepad, VR) Deploying on real hardware Using the kinematic planner Key Resources:** Installation Guide - Complete setup instructions Keyboard Control Tutorial - Get started with keyboard control Game