Preprint
Oct 2026
P-BFM: Perceptive Behavioral Foundation Models for Humanoid Control via Unsupervised Reinforcement Learning
Behavioral foundation models (BFMs) provide humanoids with reusable repertoires of whole-body behaviors; in real-world humanoid control, the same behavioral intent may require fundamentally different motions under different terrain constraints. Covering such variation with terrain-matched demonstrations requires enumer...
Xue Wang, Yi-Tang Li, Yi-Ming Zhang et al.
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