---
license: other
license_name: nvidia-open-model-license
license_link: https://www.nvidia.com/en-us/agreements/enterprise-software/nvidia-open-model-license/
tags:
- motion-generation
- humanoid
- robotics
- unitree-g1
- mujoco
library_name: pytorch
pipeline_tag: robotics
---

# MotionBricks Checkpoints (Unitree G1)

Rehosted pretrained checkpoints for **MotionBricks: Scalable Real-Time Motions with
Modular Latent Generative Model and Smart Primitives** — a real-time latent generative
model for interactive motion control of the Unitree G1 humanoid.

- Project page: https://nvlabs.github.io/motionbricks/
- Paper: https://arxiv.org/abs/2604.24833
- Original code (Apache-2.0): https://github.com/NVlabs/GR00T-WholeBodyControl (see `motionbricks/`)

These weights are a faithful re-upload of the checkpoints released by NVIDIA in the
`GR00T-WholeBodyControl` repository under `motionbricks/out/`. They are hosted here to
support a Hugging Face Space demo (loaded at build time via `preload_from_hub`). No
weights were modified.

## Contents

The `out/` layout mirrors the paths the MotionBricks code expects:

```
out/
├── G1-clip.ckpt                                             # motion clip cache (~7.4 MB)
├── motionbricks_vqvae/version_1/checkpoints/model-step=2000000.ckpt   # VQ-VAE tokenizer (~272 MB)
├── motionbricks_pose/version_1/checkpoints/model-step=2000000.ckpt    # pose model (~1.5 GB)
└── motionbricks_root/version_1/checkpoints/model-step=2000000.ckpt    # root model (~391 MB)
```

The accompanying config/skeleton/stats files (`hparams.yaml`, `skeleton/`, `stats/`)
are small and vendored directly in the demo Space; only the large `.ckpt` weights are
hosted here.

## Usage

```python
from huggingface_hub import hf_hub_download

pose = hf_hub_download(
    "suvadityamuk/motionbricks-ckpts",
    "out/motionbricks_pose/version_1/checkpoints/model-step=2000000.ckpt",
)
```

## License

This repository redistributes **model weights** that are licensed under the
**NVIDIA Open Model License** (the source code of the original project is separately
licensed under Apache-2.0). The full license text is included in this repo as
[`LICENSE`](LICENSE).

> Licensed by NVIDIA Corporation under the NVIDIA Open Model License.

The NVIDIA Open Model License permits commercial use, redistribution, and the creation
of derivative models with attribution, subject to NVIDIA's Trustworthy AI terms
(https://www.nvidia.com/en-us/agreements/trustworthy-ai/terms/).

## Citation

```bibtex
@misc{wang2026motionbricksscalablerealtimemotions,
      title={MotionBricks: Scalable Real-Time Motions with Modular Latent Generative Model and Smart Primitives},
      author={Tingwu Wang and Olivier Dionne and Michael De Ruyter and David Minor and Davis Rempe and Kaifeng Zhao and Mathis Petrovich and Ye Yuan and Chenran Li and Zhengyi Luo and Brian Robison and Xavier Blackwell and Bernardo Antoniazzi and Xue Bin Peng and Yuke Zhu and Simon Yuen},
      year={2026},
      eprint={2604.24833},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2604.24833},
}
```