---
license: other
license_name: nvidia-open-model-license
license_link: https://developer.download.nvidia.com/licenses/nvidia-open-model-license-agreement-june-2024.pdf
source_datasets:
  - bones-studio/seed
task_categories:
  - robotics
tags:
  - robotics
  - humanoid
  - unitree-g1
  - whole-body-control
  - sonic
  - gr00t
  - lerobot
  - motion-tracking
  - vla
size_categories:
  - n<1K
configs:
  - config_name: default
    data_files:
      - split: train
        path: data/chunk-000/*.parquet
---

# 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](https://github.com/NVlabs/GR00T-WholeBodyControl) whole-body
controller. It is the training input for
[**`wsagi/GR00T-N1.7-G1-SONIC-BonesSeed-V2`**](https://huggingface.co/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`)](https://huggingface.co/datasets/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_kick` sources are **dropped** — kick's high foot-lift momentum
  contaminates the target onset and 1 s isn't enough to settle it out.
- **4 `stand` episodes** 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) — see
> [`scripts/sonic_build_aug_transitions.py`](https://github.com/vitorcen/LeSONIC/blob/main/scripts/sonic_build_aug_transitions.py)
> and [`scripts/sonic_merge_aug_to_lerobot.sh`](https://github.com/vitorcen/LeSONIC/blob/main/scripts/sonic_merge_aug_to_lerobot.sh).

🔗 **Generation code:** [vitorcen/LeSONIC](https://github.com/vitorcen/LeSONIC).

## Load

```python
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.