wsagi/GR00T-N1.7-G1-SONIC-LAFAN
Robotics • 3B • Updated • 77
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 20 | frame_index int64 0 998 | episode_index int64 0 7 | index int64 0 5.78k | task_index int64 0 7 |
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End of preview. Expand in Data Studio
SONIC-VLA-LAFAN — prompt → motion-token dataset (LAFAN-sourced) for Unitree G1
A small LeRobot v2.1 dataset that pairs a language prompt + ego-view + proprioception
with the 64-dim FSQ motion_token of the GEAR-SONIC
whole-body controller, for 8 hand-picked LAFAN windows (fight / run / dance) on a Unitree G1.
It is the training input for the architecture-side flow3 VLA (one prompt-conditioned GR00T →
SONIC token → balanced full-body motion).
Variant —
LAFAN: the reference motions are hand-picked windows from the LAFAN1 locomotion/ dance corpus (Ubisoft), retargeted to the G1. Its siblingwsagi/SONIC-VLA-BonesSeeduses NVIDIA's GEAR-SONIC demo motions. Both share the exact sameprompt → token → WBCpipeline and differ only in the motion source.
🔗 Generation code: vitorcen/isaaclab-experience
(the LeSONIC subproject) — pipeline in
doc/sonic_vla_principles.html.
🎥 Sample windows
A few of the recorded windows (the SONIC WBC tracking the reference motion the tokens come from):
Fight 2
Fight 5
Run 3 — run in a circle
Dance 2 — spin, step back, and clap
What makes the LAFAN variant different: a two-tier trackability gate
LAFAN clips are foreign choreography to the frozen SONIC WBC, so a clip can't simply be "converted to a dataset". Each candidate window must first pass a physical-validity screen: we let the frozen WBC physically track the reference and ask "did the robot actually fall?" (root height + torso tilt), not the release's strict per-frame safety envelope (which terminates on a single fast-strike frame even when the robot never falls). Of 10 hand-picked windows, only 2 pass the strict gate but 6 never fall — those 6 (plus 2 trackable prefixes) are what this dataset records. Tokens are recorded with the strict deviation terminations disabled so the full window is captured; this does not change the WBC's output, only whether the episode resets.
Provenance / lineage
Generated in simulation, not scraped. The lineage:
LAFAN1 (Ubisoft ubisoft-laforge-animation-dataset) ← reference motions
│ retarget to Unitree G1 (MimicKit), hand-pick clean windows by seconds
robot_filtered windows (fight / run / dance)
│ PHYSICAL-VALIDITY screen: keep windows the frozen WBC tracks without falling
│ roll out nvidia/GEAR-SONIC WBC tracking each window in Isaac Lab and record
│ (motion_token, ego_rgb, proprioception, root_quat) each step → LeRobot v2.1
wsagi/SONIC-VLA-LAFAN (this dataset)
- Token producer:
nvidia/GEAR-SONIC— the frozen WBC that emits the tokens (itself trained onbones-studio/seed). - Motion source: LAFAN1 — the Ubisoft locomotion/dance mocap corpus, retargeted to the G1.
Contents
| Format | LeRobot v2.1 (meta/info.json, meta/modality.json, parquet + mp4) |
| Episodes | 8 hand-picked windows (6 full + 2 trackable prefixes); 5,777 frames |
| Embodiment | unitree_g1_sonic (29-DoF G1) |
| fps | 50 |
| Key features | action.motion_token (64), observation.state (43), observation.projected_gravity (3), observation.images.ego_view (480×640), annotation.human.task_description (prompt) |
The action.motion_token is the post-FSQ quantized token the SONIC actor emits at
decode("g1_dyn", …) — i.e. the exact latent the controller consumes.
Prompts (8 windows)
fight · combat strikes and combo kicks · block and push-kick · fierce swings
run · jog forward then run backward · sprint back and forth then backpedal · run in a circle
dance · moonwalk · spin, step back, and clap
⚠️ Scope
A proof-of-concept dataset: 8 windows, 1 episode each — meant to demonstrate that LAFAN motions the frozen WBC can physically track can be absorbed into the same VLA token space (the "flow3" demo), not to train a general policy. No augmentation. "Physically valid" (never fell) ≠ "visually faithful" — fidelity is judged separately in closed-loop GUI.
License & attribution
The token-generating controller and its training corpus are NVIDIA's
(nvidia/GEAR-SONIC); use under the NVIDIA Open Model
License terms of the upstream release. The reference motions are from Ubisoft's LAFAN1 dataset —
respect its license. Please cite GEAR-SONIC, BONES-SEED, and LAFAN1.
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