I just made the most expressive real-time motion harness for the Reachy Mini. It was created by: > synthesizing a massive motion dataset usi…

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. Media

Related

• who’s adding this to reachy mini?
• Yesterday, @xenovacom assembled Reachy Mini and this morning I created my first app for this new version in under an hour with Claude! Try i…
• We've partnered with @huggingface and @pollenrobotics to bring Gemini Live to the Reachy Mini conversation app 🤖💬 Thanks so much @ailozovs…

Source: Clem Delangue (X) | 2026-10-03