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
This work presents GigaBrain-0.7, an embodied foundation model with substantially improved generalization across diverse robot embodiments, and introduces one-stage alignment training that jointly optimizes vision-language understanding and multi-embodiment action generation.
GigaBrain Team, An-Gen Ye, Axiang Sun et al.· 7 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...
Zi-Yang Cheng, Tian-Shu Tang, Jin-Xi Lan et al.· 1 citation
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