[Feature Request] LeRobot + Gemma + Unitree G1: Integrating Gemma 4 as a VLA model

[s-tory]

Ticket Type

Feature Request / Improvement

Environment & System Info

​Hardware Setup:
​Robot: Unitree G1
​Compute: RTX Pro 6000 Blackwell (96GB)

Description

Hi LeRobot team,

​I'm currently building a humanoid VLA system with the above setup, and I'd love to see Gemma 4 integrated into LeRobot to make this happen.

​My Goal:
The first milestone is a physical "Hello World" — teaching the G1 to do a handshake via imitation learning. I plan to collect teleoperation data and train Gemma as the core VLA model to control the G1.

​The Request:
Since I'm more on the hardware/engineering side, wiring up Gemma with LeRobot for the G1 from scratch is a tough for me right now. Could you consider adding native support, a recipe, or a tutorial for using Gemma as a VLA model to control the Unitree G1? ​I genuinely think this Gemma + G1 combo running on LeRobot could be a killer use case for the open-source robotics community.

Regards.

Context & Reproduction

No response

Relevant logs or stack trace

Checklist

• I have searched existing tickets to ensure this isn't a duplicate.
• I am using the latest version of the main branch.
• I have verified this is not an environment-specific problem.

Additional Info / Workarounds

No response