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.· 0 citations
UniVR, the first investigation into simultaneously learning complex reasoning, fine-grained physical dynamics, and long-term planning from pure visual demonstrations, is introduced, the first comprehensive suite to assess these heterogeneous capabilities under a purely visual protocol.
Zhongwei Ren, Yunchao Wei, Yao Zhao et al.· arXiv.org· 0 citations
StateFlow is presented, a state-centric framework for generative previsualization that uses an editable 3D world to organize scene structure, evolution, and cameras, while off-the-shelf video models enhance visual quality when higher fidelity is desired.
Yuyang Yin, Zixiang Li, Longxuan Deng et al.· 1 citation
GigaBrain-WBC-0.5, the first Behavior World Model for humanoid whole-body control, is presented, which trains a causal Transformer to jointly predict its next action, next state, and the distribution over its next latent behavior command, so the network that acts also models how the environment shapes what it can do ne...
Ziyang Cheng, Tianshu Tang, Jinxi Lan et al.· 0 citations
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