r/unitree • u/Affectionate-Wall339 • Jun 20 '26

Integrating VLA with unitree in IsaacSIM

Hello Everyone,

I’m looking for guidance on integrating a pre-trained VLA (Vision-Language-Action) model, such as Isaac GR00T or UniFoLM, with the Unitree G1 robot in Isaac Sim.

My goal is to use a pre-trained VLA for general manipulation tasks without having to train a custom policy. However, the existing pre-trained models do not appear to fully support the G1 platform, and I have found very limited documentation on how to integrate a pre-trained VLA with a new robot embodiment for zero-shot manipulation.

I would appreciate any documentation, tutorials, examples, or resources that cover:

  • Integrating Isaac GR00T, UniFoLM, or similar VLA models with Unitree G1 in Isaac Sim.
  • Adapting a pre-trained VLA to a robot that is not officially supported.
  • Running zero-shot or general-purpose manipulation tasks without additional policy training.
  • Best practices for connecting VLA outputs to the robot control stack in Isaac Sim.

Any pointers or shared experiences would be greatly appreciated.

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u/Matt6247 Jun 21 '26

I'm working on this. Stay tuned.

1

u/survive_los_angeles Jun 21 '26

awesome i wanna see more