Open-source Reachy Mini mod: 10k-sample Qwen fine-tune brings 25Hz real-time expressive motion

andimarafioti · x · 2026-10-03

Developer Binh built a fully open-source real-time expressive motion system for the Reachy Mini robot:

• Synthesized a motion dataset of 10,000+ samples with Astra, then fine-tuned Qwen 3.5 4B on it
• Trained a flow matching transformer head to convert sparse motion plans (<1Hz) into dense, expressive 25Hz motion
• Average inference for a full motion takes under 200ms, enabling real-time interaction
• Pollen Robotics and Hugging Face had only recorded 85 emotions for the robot; users can now prompt any motion they want

andimarafioti highlighted it as a showcase of open source: because the robot is so open, community improvements can flow back to everyone.

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