CLARU
wsagiNVIDIA Open Model License

SONIC-VLA-BonesSeed-V2

A LeRobot v2.1 dataset pairing language prompts, ego-view RGB, and proprioception with 64-dimensional FSQ motion tokens for whole-body control of the Unitree G1 humanoid robot, enhanced with physical transition augmentation for cold-start motion initiation.

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Technical Profile

Modalities
rgbproprioceptionlanguage
Robot Embodiments
Unitree G1
Environment
simulation
Task Types
whole-body controlmotion generationdancelocomotionjumpingsquatting
Data Format
LeRobot
License
NVIDIA Open Model License
Part of the SONIC-VLA-BonesSeed-V2 family

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