VLA Gallery / All models / Humanoid whole-body controllers

BumbleBee

Unverified (Not stated in notes) · 2025-06

VAHumanoid whole-body controllersUnverifiedNot disclosed

A specialist-generalist training framework combining motion clustering and sim-to-real adaptation.

Paper

From Experts to a Generalist: Toward General Whole-Body Control for Humanoid RobotsarXiv 2506.12779

Overview

Category

Humanoid whole-body controllers

Type

VA

Released

2025-06

Organization

Unverified (Not stated in notes)

Open weights

Unverified

Parameters

Unverified (abstract only)

Architecture

Backbone LLM

Unverified

Vision encoder

—

Action head

Unverified (Not disclosed)

Chunk

Not disclosed

Control rate

Not disclosed

Architecture (original summary)

Unverified (architecture Not stated in abstract)

Training

Pretraining accelerators

Unverified (abstract only)

Pretraining duration

Unverified (abstract only)

Pretraining steps & batch

Unverified (abstract only)

GPU/TPU-hours

Not disclosed

Fine-tuning

Unverified (abstract only)

Data type

Unverified

Data scale

Unverified (abstract only)

Main datasets

Unverified

Tasks & evaluation

Unverified (abstract only)

Robot

Unverified (Not stated in notes)

Inference

Inference device & speed

Unverified (abstract only)

Inference memory

Not disclosed

Weights bf16 (calc.)

Not disclosed

Where it runs

Not disclosed

Reinforcement learning & base

Reinforcement learning

Not disclosed · Only sim-to-real adaptation techniques confirmed; RL use unverified

Base control

Humanoid legged (RL policy drives joints directly) · Generalist policy tracks reference motion and directly outputs G1 23-DoF joint PD targets (including walking, jogging, jumping)

Notes

Key features

A specialist-generalist training framework combining motion clustering and sim-to-real adaptation. After iterative delta action modeling, it distills into a single generalist controller.

Notes

Notes record only the arXiv abstract, with no further investigation. Type set to VA as it falls in the whole-body controller category. Not covered by verification files.

Verification

Not verified