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Downloading Model Checkpoints

Pre-trained GEAR-SONIC checkpoints (ONNX format) are hosted on Hugging Face:

Quick Download

Install the dependency

pip install huggingface_hub

Run the download script

From the repo root, run:

python download_from_hf.py

This downloads the latest policy encoder + decoder + kinematic planner into gear_sonic_deploy/, preserving the same directory layout the deployment binary expects.

Options

Flag	Description
`--no-planner`	Skip the kinematic planner download
`--output-dir PATH`	Override the destination directory
`--token TOKEN`	HF token (alternative to `huggingface-cli login`)

Examples

# Policy + planner (default)
python download_from_hf.py

# Policy only
python download_from_hf.py --no-planner

# Download into a custom directory
python download_from_hf.py --output-dir /data/gear-sonic

Manual download via CLI

If you prefer the Hugging Face CLI:

pip install huggingface_hub[cli]

# Policy only
huggingface-cli download nvidia/GEAR-SONIC \
    model_encoder.onnx \
    model_decoder.onnx \
    observation_config.yaml \
    --local-dir gear_sonic_deploy

# Everything (policy + planner)
huggingface-cli download nvidia/GEAR-SONIC --local-dir gear_sonic_deploy

Manual download via Python

from huggingface_hub import hf_hub_download

REPO_ID = "nvidia/GEAR-SONIC"

encoder = hf_hub_download(repo_id=REPO_ID, filename="model_encoder.onnx")
decoder = hf_hub_download(repo_id=REPO_ID, filename="model_decoder.onnx")
config  = hf_hub_download(repo_id=REPO_ID, filename="observation_config.yaml")
planner = hf_hub_download(repo_id=REPO_ID, filename="planner_sonic.onnx")

print("Policy encoder :", encoder)
print("Policy decoder :", decoder)
print("Obs config     :", config)
print("Planner        :", planner)

Available files

nvidia/GEAR-SONIC/
├── model_encoder.onnx         # Policy encoder
├── model_decoder.onnx         # Policy decoder
├── observation_config.yaml    # Observation configuration
└── planner_sonic.onnx         # Kinematic planner

The download script places them into the layout the deployment binary expects:

gear_sonic_deploy/
├── policy/release/
│   ├── model_encoder.onnx
│   ├── model_decoder.onnx
│   └── observation_config.yaml
└── planner/target_vel/V2/
    └── planner_sonic.onnx

Authentication

The repository is public — no token required for downloading.

If you hit rate limits or need to access private forks:

# Option 1: CLI login (recommended — token is saved once)
huggingface-cli login

# Option 2: environment variable
export HF_TOKEN="hf_..."
python download_from_hf.py

# Option 3: pass token directly
python download_from_hf.py --token hf_...

Get a free token at huggingface.co/settings/tokens.

Next steps

After downloading, follow the Quick Start guide to run the deployment stack in MuJoCo simulation or on real hardware.

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