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Systematically Exploring the Capabilities of GPT-6 Astra as Embodied Policies
Galbot Team, Xuchuan Chen, Xiaoqian Cheng +31
GPT-6 Astra exhibits a remarkable ability to generate numerical robot actions, extending its role beyond high-level planning. To assess Astra's capabilities as general-purpose embo…
RoboGesture: Real-Time Semantic-aligned Co-Speech Gestures Generation for Humanoid Interaction
Zifan Wang, Ziang Ren, Pengyang Shi +7
Enabling humanoid robots to respond to human speech with synchronized and semantically meaningful gestures is fundamental to natural human-robot interaction. However, this task fac…
HumanTracker: Towards Comprehensive and Human-Aligned Motion Tracking Benchmark
Dairu Liu, Zekun Qi, Jiayu Zeng +11
Humanoid motion tracking is central to teleoperation and whole-body imitation, yet evaluation often disagrees with what people perceive in videos. Kinematic errors average per-fram…
Scaling Behavior Foundation Model for Humanoid Robots
Weishuai Zeng, Kangning Yin, Xiaojie Niu +15
Humanoid control requires natural whole-body coordination, precise real-time responses to control signals, and robust generalization across diverse environmental contexts, making i…
Humanoid-GPT: Scaling Data and Structure for Zero-Shot Motion Tracking
Zekun Qi, Xuchuan Chen, Dairu Liu +10
We introduce Humanoid-GPT, a GPT-style Transformer with causal attention trained on a billion-scale motion corpus for whole-body control. Unlike prior shallow MLP trackers constrai…
Seed2Scale: A Self-Evolving Data Engine with Parallel Worlds Expansion for Scalable Robot Learning
Cong Tai, Zhaoyu Zheng, Haixu Long +14
Existing data generation methods for robot learning suffer from limited exploration, embodiment gaps, low signal-to-noise ratios, and domain shifts, leading to performance degradat…