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
Vision-language-action (VLA) models have become a dominant paradigm for generalist embodied agents, demonstrating strong complex and long-horizon task completion in structured settings. Yet it remains an open question whether current VLA systems can benefit from more effective architectural design, scale to substantial...
GigaBrain Team, An-Gen Ye, Axiang Sun et al.· 5 citations· ⚡1
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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