LATIDIA · Robótica

BFM-Zero: un modelo de base conductual útil para el control humanoide mediante el aprendizaje por refuerzo no supervisado

arXiv:2511.04131v2 Announce Type: replace Abstract: Building Behavioral Foundation Models (BFMs) for humanoid robots has the potential to unify diverse control tasks under a single, promptable generalist policy. Sin embargo,

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arXiv:2511.04131v2 Announce Type: replace Abstract: Building Behavioral Foundation Models (BFMs) for humanoid robots has the potential to unify diverse control tasks under a single, promptable generalist policy. However, existing approaches are either exclusively deployed on simulated humanoid characters, or specialized to specific tasks such as tracking. We propose BFM-Zero, a framework that learns an effective shared latent representation that embeds motions, goals, and rewards into a common space, enabling a single policy to be prompted for multiple downstream tasks without retraining. This well-structured latent space in BFM-Zero enables versatile and robust whole-body skills on a Unitree G1 humanoid in the real world, via diverse inference methods, including zero-shot motion tracking,