Cover Image

BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Li, Yitang, Luo, Zhengyi, Zhang, Tonghe, Dai, Cunxi, Kanervisto, Anssi, Tirinzoni, Andrea, Weng, Haoyang, Kitani, Kris, Guzek, Mateusz, Touati, Ahmed, Lazaric, Alessandro, Pirotta, Matteo, Shi, Guanya
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Zero-Shot Whole-Body Humanoid Control via Behavioral Foundation Models
by: Tirinzoni, Andrea, et al.
Published: (2025)

Fast Adaptation with Behavioral Foundation Models
by: Sikchi, Harshit, et al.
Published: (2025)

TD-JEPA: Latent-predictive Representations for Zero-Shot Reinforcement Learning
by: Bagatella, Marco, et al.
Published: (2025)

Simple Ingredients for Offline Reinforcement Learning
by: Cetin, Edoardo, et al.
Published: (2024)

Temporal Difference Flows
by: Farebrother, Jesse, et al.
Published: (2025)

Compositional Planning with Jumpy World Models
by: Farebrother, Jesse, et al.
Published: (2026)

HDMI: Learning Interactive Humanoid Whole-Body Control from Human Videos
by: Weng, Haoyang, et al.
Published: (2025)

Learning Human-to-Humanoid Real-Time Whole-Body Teleoperation
by: He, Tairan, et al.
Published: (2024)

Sample Complexity Bounds for Stochastic Shortest Path with a Generative Model
by: Tarbouriech, Jean, et al.
Published: (2026)

Hold My Beer: Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control
by: Li, Yitang, et al.
Published: (2025)

OmniH2O: Universal and Dexterous Human-to-Humanoid Whole-Body Teleoperation and Learning
by: He, Tairan, et al.
Published: (2024)

Omnigrasp: Grasping Diverse Objects with Simulated Humanoids
by: Luo, Zhengyi, et al.
Published: (2024)

Universal Humanoid Motion Representations for Physics-Based Control
by: Luo, Zhengyi, et al.
Published: (2023)

Evaluating a VR System for Collecting Safety-Critical Vehicle-Pedestrian Interactions
by: Weng, Erica, et al.
Published: (2023)

JaywalkerVR: A VR System for Collecting Safety-Critical Pedestrian-Vehicle Interactions
by: Mukoya, Kenta, et al.
Published: (2024)

Mediatizing Secular State
by: Guzek, Damian
Published: (2024)

SMPLOlympics: Sports Environments for Physically Simulated Humanoids
by: Luo, Zhengyi, et al.
Published: (2024)

Harmony4D: A Video Dataset for In-The-Wild Close Human Interactions
by: Khirodkar, Rawal, et al.
Published: (2024)

Emergent Active Perception and Dexterity of Simulated Humanoids from Visual Reinforcement Learning
by: Luo, Zhengyi, et al.
Published: (2025)

Taxonomy Table
by: Guzek II, David
Published: (2026)

ASAP: Aligning Simulation and Real-World Physics for Learning Agile Humanoid Whole-Body Skills
by: He, Tairan, et al.
Published: (2025)

Multi-Object Tracking by Hierarchical Visual Representations
by: Cao, Jinkun, et al.
Published: (2024)

Real-Time Simulated Avatar from Head-Mounted Sensors
by: Luo, Zhengyi, et al.
Published: (2024)

Toward Human-AI Alignment in Large-Scale Multi-Player Games
by: Sharma, Sugandha, et al.
Published: (2024)

Hierarchical Behaviour Spaces
by: Matthews, Michael Tryfan, et al.
Published: (2026)

Diffusion for World Modeling: Visual Details Matter in Atari
by: Alonso, Eloi, et al.
Published: (2024)

Zero-Shot Multi-Object Scene Completion
by: Iwase, Shun, et al.
Published: (2024)

Ground Reaction Inertial Poser: Physics-based Human Motion Capture from Sparse IMUs and Insole Pressure Sensors
by: Hori, Ryosuke, et al.
Published: (2026)

DegustaBot: Zero-Shot Visual Preference Estimation for Personalized Multi-Object Rearrangement
by: Newman, Benjamin A., et al.
Published: (2024)

Large-scale semi-supervised learning with online spectral graph sparsification
by: Calandriello, Daniele, et al.
Published: (2026)

Reinforcement Learning with Options and State Representation
by: Ghriss, Ayoub, et al.
Published: (2024)

Analysis of Nystrom method with sequential ridge leverage scores
by: Calandriello, Daniele, et al.
Published: (2026)

Pack only the essentials: Adaptive dictionary learning for kernel ridge regression
by: Calandriello, Daniele, et al.
Published: (2026)

pySpatial: Generating 3D Visual Programs for Zero-Shot Spatial Reasoning
by: Luo, Zhanpeng, et al.
Published: (2026)

G-HOP: Generative Hand-Object Prior for Interaction Reconstruction and Grasp Synthesis
by: Ye, Yufei, et al.
Published: (2024)

Joint Diffusion for Universal Hand-Object Grasp Generation
by: Cao, Jinkun, et al.
Published: (2024)

CacheFlow: Fast Human Motion Prediction by Cached Normalizing Flow
by: Maeda, Takahiro, et al.
Published: (2025)

WoCoCo: Learning Whole-Body Humanoid Control with Sequential Contacts
by: Zhang, Chong, et al.
Published: (2024)

HOVER: Versatile Neural Whole-Body Controller for Humanoid Robots
by: He, Tairan, et al.
Published: (2024)

Promptable Closed-loop Traffic Simulation
by: Tan, Shuhan, et al.
Published: (2024)