X-BFM

Under review at ICRA. A behavioral foundation model for extreme humanoid control.

X-BFM: a Behavioral Foundation Model for Extreme Humanoid Control via World-Model Conditioning and Decoupled Recovery Priors. Under review at the IEEE International Conference on Robotics and Automation (ICRA).

Quang Huy Dao et al.

Opening 10 seconds.

Extreme skills and ordinary recovery are usually trained as separate policies. X-BFM treats them as one behavioral model. A world-model conditioner and decoupled recovery priors let the same system teleoperate, commit to a dynamic move such as a flip, and stand back up when the landing or a push goes wrong.

The video is organized around four behaviors:

  • Teleoperation, including walking through a workspace with a person
  • Flips on a short patch of turf
  • Natural recovery after a loss of balance
  • Recovery under perturbations, when contact happens while the robot is already trying to get up