wsagi/GR00T-N1.7-G1-SONIC-BonesSeed-V2
Robotics • 3B • Updated • 92
Datasets:
Search is not available for this dataset
observation.state list | observation.eef_state list | action.wbc list | observation.root_orientation list | observation.projected_gravity list | observation.cpp_rotation_offset list | observation.init_base_quat list | teleop.delta_heading float64 0 0 | action.motion_token list | teleop.smpl_joints list | teleop.smpl_pose list | teleop.body_quat_w list | teleop.target_body_orientation list | teleop.left_hand_joints list | teleop.right_hand_joints list | teleop.smpl_frame_index int64 0 0 | teleop.left_wrist_joints list | teleop.right_wrist_joints list | teleop.stream_mode int32 0 0 | teleop.planner_mode int32 0 0 | teleop.planner_movement list | teleop.planner_facing list | teleop.planner_speed float32 0 0 | teleop.planner_height float32 0 0 | teleop.vr_3pt_position list | teleop.vr_3pt_orientation list | timestamp float32 0 27.5 | frame_index int64 0 1.37k | episode_index int64 0 53 | index int64 0 12.6k | task_index int64 0 7 |
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End of preview. Expand in Data Studio
SONIC-VLA-BonesSeed-V2 — prompt → motion-token dataset with physical onset augmentation (Unitree G1)
A LeRobot v2.1 dataset pairing a language prompt + ego-view + proprioception with the 64-dim
FSQ motion_token of the GEAR-SONIC whole-body
controller. It is the training input for
wsagi/GR00T-N1.7-G1-SONIC-BonesSeed-V2,
whose headline is fixing cold-start onset (one-shot motions self-starting from a standing pose,
no bootstrap).
What's new vs V1 (wsagi/SONIC-VLA-BonesSeed):
V1 had 7 motions × 1 clean episode. V2 adds physical transition augmentation to cover the
deployment "switch-prompt-from-any-state" distribution:
- For each target motion, a
[1 s of another motion's momentum] ++ [target onset]token sequence is replayed through the SONIC WBC (real physics) and re-recorded as(token, ego_rgb, proprio)— not spliced as raw frames (which would be physically inconsistent). This teaches the policy to initiate each motion from many incoming dynamic states, not just from a clean stand. - LAUNCH-filtered: only rollouts where the target motion actually initiated (not frozen / not
fallen) are kept. All
*_from_kicksources are dropped — kick's high foot-lift momentum contaminates the target onset and 1 s isn't enough to settle it out. - 4
standepisodes added so the policy learns a natural idle.
| Format | LeRobot v2.1 (parquet data + per-episode mp4 video + meta/ schema) |
| Episodes / frames | 54 / 12 630 |
| fps | 50 |
| Prompts (8) | dance, do a forward lunge, dance the macarena, kick, squat, stand, jump on one leg, walk and turn around |
| Key features | observation.images.ego_view (480×640 h264), observation.state (43-d), observation.projected_gravity, action.motion_token (64-d FSQ) |
| Embodiment | unitree_g1_sonic (29-DoF G1); meta/modality.json maps state/action groups for GR00T |
The augmentation tokens come from the GT token sequences in V1; the recorded
(obs, token)pairs are produced by physics rollout, so every frame is a physically-valid WBC state. This is the "physically-correct" route (vs naive frame-splicing) — seescripts/sonic_build_aug_transitions.pyandscripts/sonic_merge_aug_to_lerobot.sh.
🔗 Generation code: vitorcen/LeSONIC.
Load
from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
ds = LeRobotDataset("wsagi/SONIC-VLA-BonesSeed-V2")
print(ds[0].keys()) # observation.images.ego_view, observation.state, action.motion_token, ...
License & sources
Reference motions derive from NVIDIA's GEAR-SONIC demo corpus (rooted in BONES-SEED). Released under the NVIDIA Open Model License (see link above). The SONIC WBC and GR00T base are NVIDIA's.
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