wsagi/GR00T-N1.7-G1-SONIC
Robotics • 3B • Updated • 104
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 6 | index int64 0 3.81k | task_index int64 0 6 |
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End of preview. Expand in Data Studio
SONIC-VLA-LeRobot — prompt → motion-token dataset 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 7 motions on a Unitree G1. It is the training input for the
architecture-side VLA model wsagi/GR00T-N1.7-G1-SONIC
(one prompt-conditioned GR00T → SONIC token → balanced full-body motion).
🔗 Generation code: vitorcen/isaaclab-experience
(scripts/gear_sonic_record.sh + gear_sonic/data/vla_token_recorder.py → scripts/sonic_vla_npz_to_lerobot.py)
Provenance / lineage
This dataset was generated in simulation, not scraped or hand-modified from an existing dataset. The lineage:
bones-studio/seed (142K human motions, ~288h, G1-retargeted) ← what SONIC itself was trained on
│ NVIDIA trains the SONIC WBC
nvidia/GEAR-SONIC (released WBC checkpoint + demo_robot_filtered.pkl, 7 demo motions)
│ we roll out the SONIC WBC tracking those 7 motions in Isaac Lab and record
│ (motion_token, ego_rgb, proprioception, root_quat) each step → convert to LeRobot v2.1
wsagi/SONIC-VLA-LeRobot (this dataset)
- Direct upstream:
nvidia/GEAR-SONIC— both the WBC that emits the tokens and the 7 reference motions (demo_robot_filtered.pkl, SOMA-derived deploy demos). - Distant upstream:
bones-studio/seed— the human motion-capture corpus SONIC was trained on.
Contents
| Format | LeRobot v2.1 (meta/info.json, meta/modality.json, parquet + mp4) |
| Episodes | 7 (one per motion: dance, macarena, kick, lunge, squat, jump, walk) |
| 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
dance · dance the macarena · kick · do a forward lunge · squat ·
jump on one leg · walk and turn around
⚠️ Scope
A derisk / proof-of-concept dataset: 7 motions, 1 episode each — meant to validate the
prompt → token → WBC pipeline, not to train a general policy. No augmentation; new-motion
coverage is out of scope.
License & attribution
Derived from the nvidia/GEAR-SONIC release; the
reference motions and the token-generating controller are NVIDIA's. Use under the NVIDIA Open
Model License terms of the upstream release. Please cite GEAR-SONIC and BONES-SEED.
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Models trained or fine-tuned on wsagi/SONIC-VLA-LeRobot