MotionBricks-G1-GGML

Native F32 GGML/GGUF conversion of NVIDIA MotionBricks' released Unitree G1 checkpoints and style primitives.

What it is for

The repo holds MotionBricks' G1 pose, root and VQ-decoder checkpoints as GGUF files, a support file, and the released style primitives as .mbstyle files. MotionBricks is a real-time latent generative model for interactive motion control. These weights target its 34-joint Unitree G1 skeleton. motion-bricks.cpp produces the conversion and runs it on CPU and Vulkan. MANIFEST.json and SHA256SUMS record the source revision, exact paths, sizes and SHA-256 hashes.

Provenance

• Upstream source: the motionbricks folder of NVlabs/GR00T-WholeBodyControl, which NVIDIA publishes through Git LFS rather than a separate Hugging Face model repo.
• Pinned revision: a0732b642c0333077e127a2f56ab0014c196bca4.
• Converter: motion-bricks.cpp.

Use

From a motion-bricks.cpp checkout, install the checked bundle into generated/g1-f32 and generated/styles with:

python scripts/download_gguf_weights.py

Licence

Apache 2.0, the licence of the motion-bricks.cpp code repo. Terms: LICENSE. The weights also carry the NVIDIA Open Model License. Keep UPSTREAM_LICENSE and NOTICE with them when you redistribute.