Does SmolVLA run on Unitree G1?
Scope: Training evidenced by public checkpoint(s); on-robot inference not documented by a primary source.
Capabilities
| Capability | State | Notes | Evidence |
|---|---|---|---|
| Train / fine-tune | works | ev-hub-qualia-smolvla-g1, ev-hub-eunjuri-smolvla-g1 | |
| Real-robot inference | no verified evidence | — | |
| Simulation inference | no verified evidence | — | |
| Teleop + record | no verified evidence | — |
Evidence 2 sources; the cell shows the highest tier
- T3 · community reportedhub-checkpointsource 2026-01-15verified 2026-10-25 (today)
config.json type=smolvla; train_config.json dataset unitreerobotics/G1_Dex1_MountCamera_Dataset (Unitree's own G1 teleoperation dataset), whose meta/info.json robot_type=Unitree_G1 (351 episodes; G1 arm joints kLeftShoulderPitch... plus Dex1 grippers; four cameras). Unitree's robot_type string, not LeRobot's unitree_g1.
https://huggingface.co/qualiaadmin/68bf0913-c0a0-4b98-b1d1-c14dc1c55a44 - T3 · community reportedhub-checkpointsource 2026-05-01verified 2026-10-25 (today)
config.json type=smolvla; train_config.json dataset eunjuri/red_cup_img_depth (10000 steps), whose meta/info.json robot_type=Unitree_G1_Inspire (83 episodes).
https://huggingface.co/eunjuri/smolvla_red_cup_depth
SmolVLA inference speed by hardware robot-independent · inference cost only
| Compute | Runtime | Precision | Cams | p50 / p95 ms | Inference | Platform | Source |
|---|---|---|---|---|---|---|---|
| Jetson Orin Nano 8GB (Super) | TensorRT | fp16 | 2 @640x480 | 107.55 / 108.48 | 9.3 Hz | jetpack 7.2.1 · power_mode MAXN_SUPER, clocks pinned with jetson_clocks (GPU 1020 MHz, CPU 1728 MHz) · tensorrt 10.16.2.10conditionsboard: Jetson Orin Nano Engineering Reference Developer Kit Super (8 GB) · l4t: R39.2.1 · os: Ubuntu 24.04.4 LTS · python: 3.12.3 · desktop: running Inference cost only; not task success. 300 s run on synthetic 640x480 observations resized by the exported policy to 512x512; 10 denoising steps; latency is runtime-only over a pre-materialized observation ring. Whole-board RAM in use 1.78 GB (unified memory, desktop running). Actions were gated against the stock policy (cosine >= 0.99999) before timing. | T3 · community reported |
| Jetson Orin Nano 8GB (Super) | ONNX (split) | fp16 | 2 | 189.89 / 190.93 | 5.25 Hz | jetpack 7.2 (L4T R39.2.x, per the repo host-setup doc at this commit) · power_mode MAXN_SUPER, pinned clocks · cuda 13.2 · tensorrt 10.16.2 (system, via ONNX Runtime TensorRT EP)conditionsboard: Jetson Orin Nano Super 8 GB developer kit · os: Ubuntu 24.04 · onnxruntime-gpu: 1.24 Inference cost only; not task success. Deterministic synthetic observations, pinned MAXN_SUPER clocks. Configured EP priority 7 graphs TensorRT / 2 CPU. System RAM 2385 MB in use. | T3 · community reported |
| Jetson Orin Nano 8GB (Super) | PyTorch eager | fp32 | 2 | 1167.93 / 1176.65 | 0.86 Hz | jetpack 7.2 (L4T R39.2.x, per the repo host-setup doc at this commit) · power_mode MAXN_SUPER, pinned clocks · cuda 13.2 · lerobot 0.5.1conditionsboard: Jetson Orin Nano Super 8 GB developer kit · os: Ubuntu 24.04 Inference cost only; not task success. Deterministic synthetic observations, pinned MAXN_SUPER clocks. Stock LeRobot SmolVLAPolicy in PyTorch FP32 (LeRobot 0.5.1 env, JetPack-matched torch). RSS peak 3826 MB, system RAM 4126 MB in use. | T3 · community reported |
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No committed history yet. Source file: data/compat/unitree-g1__smolvla.yaml