# A General Control Policy for Humanoid Robots Based on Whole-Body Motion Tracking: Closed-Loop Validation of the SONIC Method on G1 in MuJoCo

- Source: Guyuehome
- Published: 2026-10-17T15:33:00.000Z
- RoboHot: https://robohot.news/en/items/q9735nmqkk8tcocmls55e5ua9
- Original: https://www.guyuehome.com/detail?id=2103680916061712385

## Summary

The SONIC method performs deterministic closed-loop runs in MuJoCo simulation on released checkpoints for the G1 humanoid robot, reproducing general control with whole-body motion tracking as the base task. The method unifies motion representation, adopts a tokenized conditional policy and Gaussian kernel rewards, and presents real footage and error metrics for multiple skill entries.