I just made the most expressive real-time motion harness for the Reachy Mini.
It was created by:
> synthesizing a massive motion dataset using Astra (over 10000 samples)
> fine-tuning Qwen 3.5 4B using such dataset
> then training a flow matching transformer head to transform sparse motion plan (<1hz) into dense expressive motion (25Hz)
The average inference time for a full motion is less than 200ms, enabling real-time interaction.
@pollenrobotics and
@huggingface only recorded 85 emotions for the reachy mini. With my work, you can now prompt and animate any motion you want.
Everything is open-source; write-up and links attached below. Here is a video of Reachy explaining itself through my harness.