Frozen SONIC whole-body controller + seven rank-16 LoRAs on the decoder, conditioned on a 128-d percept from a head depth camera (Theia-Tiny tokens + temporal adapter). PPO, iteration 4000. Consumed by lerobot's DepthDodgeController for the Unitree G1. Camera contract: 64x96 optical-Z depth in metres, 45 deg vertical FOV, 0 deg pitch, valid 0.2-6 m, 25 Hz. See manifest.json for the full training config.