58 motions to start: dances, waves, bows and styled walks, all retargeted to K1. We'll keep maintaining and extending it.
K1 Moves: huggingface.co/datasets/Kyry…
SONIC-K1: kyry.me/sonic-k1/
Kyr retweeted
Isaac Lab 3.0 lets you choose the physics and rendering backends that best fit your robot learning workload, as well as different visualization approaches to see what your policy looks like while training.
For example, the SONIC whole-body controller from NVIDIA runs across different physics engines and transfers to real hardware, demonstrating policy robustness across simulation backends and the real world.
(3/7)
GitHub: github.com/Kyk0/sonic-k1
Weights and code: kyry.me/sonic-k1
Next: the real K1, whole-body VR teleop, and video to robot.
*On the bigger Unitree G1, as reported in the SONIC paper.
Kyr retweeted
Weights and code: kyry.me/sonic-k1
Next: the real K1, whole-body VR teleop, and video to robot.
*On the bigger Unitree G1, as reported in the SONIC paper.
Built for the real robot. Booster's factory torque limits, a 20 ms delay and soft joints, all at once: it still finishes 95.9% of unseen motions without falling.
Weights and code: kyry.me/sonic-k1
Next: the real K1, whole-body VR teleop, and video to robot.
*On the bigger Unitree G1, as reported in the SONIC paper.
Humanoids are starting to surpass human physical capabilities in some areas. I think we'll soon have a new regulations on how powerful they can be
Kyr retweeted
I'm shocked by the lack of ambition of recent robot companies. The models keep on getting on better, but the robots stay the same.
The honest truth is that you can build a humanoid in ~2 months.
The confusing part: Isaac Sim uses the GPU for physics and rendering.
Physics runs on CUDA and works on H100. The RTX renderer doesn't.
For walking and motion tracking, you can train without it.
This replays the simulated poses. It isn't Isaac Sim's RTX renderer.
If your policy needs RTX camera images during training, this doesn't replace them.
Code and guide: github.com/Kyk0/isaaclab-h10…
MIT / CC BY 4.0. Tested with Isaac Lab 2.x on H100 NVL. Community-tested, not NVIDIA-supported.
If you try it on A100, H200 or B200, send a GPU report and I'll add it with credit.
I trained this G1 on an H100 and made the video on the same server. No RTX GPU needed.
Put together a guide for training with Isaac Lab on H100, recording rollouts, and watching the results 🧵
kyry.me/isaaclab-h100/
You can watch the policy in your browser.
Record the robot's link poses during a headless rollout, then replay them with viser. Your browser handles the drawing, so the server doesn't need to render.
Try it: kyry.me/isaaclab-h100/#brows…
