Preprint
Aug 2026
GigaBrain-WBC-0.5: A Behavior World Model for Robust Humanoid Whole-Body Tracking with Environment Interaction
General-purpose motion trackers enable humanoid robots to follow diverse whole-body motions while maintaining balance, but are trained only on flat ground, failing to exploit bipedal mobility over complex terrain. Cross-terrain controllers, meanwhile, are task-specific or accept only low-dimensional locomotion commands...
Zi-Yang Cheng, Tian-Shu Tang, Jin-Xi Lan et al.
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