A · IK + RL
DroppedIK arms + RL legs
Loses balance, damaged the robot
Unitree G1 - Whole‑body VLA
01
VR teleoperation
Weeks 1–4
02
Whole-body controller
Weeks 5–8B · SONIC
ChosenOne whole-body policy
Natural and stable
A · IK + RL
B · SONIC
Hand accuracy
High
Medium
Natural motion
Low
High
Balance
Weak
Better
Safe for data collection
No
Yes
03
Data collection
Weeks 9–11
→
Takeaways
IK + RL→SONIC
One whole-body policy beats two stitched controllers
damagehot ankle
Hardware is the bottleneck, not software
VR demos→Psi0 VLA