Pinned Tweet
Since we first put forward the concept of Behavior Foundation Model (BFM) last September, we have been exploring ways to fully unleash its potential.
Here comes our answer: Scaling Behavior Foundation Model for Humanoid Robots.
Heuristic Learning
It's been months since the concept was first proposed in trinkle23897.github.io/learn… -- long before all those 'Astra+X' projects started popping up.
I'm only now realizing that we may need a revisit.
Weishuai Zeng retweeted
Can more pretraining improve a robot policy’s success rate, yet makes it worse for porttraining? 🤔
In our new work, we find that it can. Continued supervised pretraining of generative robot policies can improve reliability at the expense of coverage, and this tradeoff affects downstream posttraining.
Read on to see why this happens and how we can preserve coverage. 1/n 🧵
Weishuai Zeng retweeted
We deploy OM-1 on more humanoid tasks in both indoor and outdoor environments. OM-1 can power humanoids to do useful things robustly that other models or form factors cannot.
- last-mile delivery from a Cybertruck
- manipulation on stairs
It's all about data
Introducing Flora, an open model suite for scaling robotics data engines.
It watches robot and human video and annotate what happened (timestamped instructions) and how well it went (rewards and failure reasons).
🔗 research.nvidia.com/labs/gea…
We use it to train NVIDIA GR00T. 🧵
1
225
System 2 <- System 1 -> System 0
Replying to @DynaRobotics
Using large-scale GPU parallelized reinforcement learning in Isaac Sim, we are able to obtain a robust whole-body controller for Taku optimized for precise loco-manipulation.
6
576
"The bitter lesson is based on the historical observations that 1) AI researchers have often tried to build knowledge into their agents, 2) this always helps in the short term, and is personally satisfying to the researcher, but 3) in the long run it plateaus and even inhibits further progress, and 4) breakthrough progress eventually arrives by an opposing approach based on scaling computation by search and learning. The eventual success is tinged with bitterness, and often incompletely digested, because it is success over a favored, human-centric approach."
-- The Bitter Lesson, Richard Sutton
GPT-6 Astra is the most significant leap in robotics I’ve seen in the past few years. It cracked RoboLab with a near-perfect score. Solid infrastructure + scaling ultimately outperformed the heuristics explored in small-scale studies. We’re definitely on the brink of physical RSI.
Source: anonymous-report-421.github.…
6
579
How can we improve robot generalization beyond collecting more demonstrations?
A robot can use inference to work out how to solve tasks it was never explicitly trained to perform. With learned models of the world, we can plan our future actions and goals before acting.
I wrote a research perspective, Generalization by Construction, on how learning can be combined with inference for flexible generalization.
yilundu.github.io/perspectiv…
Weishuai Zeng retweeted
GPT-6 Astra scored 95% on a robot control task, up from Fable 5.1's 40%, with 6.2x fewer output tokens at 2.3x lower cost. 🧵
Weishuai Zeng retweeted
🎾 What if humanoid robots could play tennis like @rogerfederer, @RafaelNadal, @DjokerNole, and others?
🤖Introducing our project AdaPT: Adaptive Motion Planning and Tracking, which made this possible!
Website: humanoidtennis.github.io/Ada…
Youtube: youtube.com/watch?v=mEF-YTn-…
Weishuai Zeng retweeted
When language models first started using tools well, I was sympathetic to the narrative that instead of scaling up language models, all we needed was a strong enough "cognitive core", say 1B parameters, and anything else could be done with tool use, like browsing the internet or executing code. I think a lot of people were sympathetic to this argument, and indeed it is pretty hard to come up with a meaningful task that cannot be in principle achieved by a 1B model with adequate access to tools. For example, any esoteric fact that a large language model would know can be, in principle, retrieved from the internet and reasoned over by a 1B language model.
However I now think this is totally wrong for one simple reason: doing tasks quickly and naturally without tool use matters a lot.
The way that I internalized this reason was actually in my personal journey learning badminton this year. In badminton I am very much like a "1B cognitive core". While I can physically do every movement in a badminton shot that my coach teaches me, it requires a lot of work to mentally remember every cue and put it together. In practice I can do a shot almost perfectly, but I struggle to do it across a point and I definitely can't do it consistently in a game. This is obviously different from someone who has practiced a shot ten-thousand times and effortlessly executes it as a natural instinct.
In the same way, language models knowing a fact internally, without tool calls, is meaningful. The first reason is that we obviously care about speed; you'd much rather get an answer immediately than have the model think a long time to be sure of its answer or browse the web. A second reason is that there are some things that are simply best learned via backpropagation over lots of data. If you ask about how people generally think of the Shambhala music festival, you'd rather a large language model give you an aggregate opinion based on all the data on the internet, than get a regurgitation of the first three reviews that show up in a web search. A third reason is that having to do a lot of work to find an answer is not as reliable as already knowing the answer. While this does not have to be true in theory, it is probably true in practice, at least for now. If you have to re-look up facts or redo a mathematical derivation all the time there is a higher chance of mistakes, which can compound in a long-horizon task.
Once you buy that it is valuable to do things parametrically without tool use, then you must buy the argument that a 1B cognitive core is not sufficient. There is an information limit to how much knowledge can be internalized by a 1B model, and we will surely want AI to know more than that. Even 1T probably won't be enough. We will want the AI to know as much about our world as possible, we will want it to be updated with new information, and our expectations of what AI can do for us will continue to grow.
In summary, tool use enables small models to do a lot more, but those who demand the highest quality intelligence will always want larger models. Bitter lesson strikes again.
Due to a series of events, it took me much longer than expected to finally organize and share our explorations on Scaling Behavior Foundation Models for Humanoid Robots. Thank you sincerely for your interest and support, and equally, I deeply appreciate your thoughtful criticisms and different perspectives.
This work represents another step forward in our ongoing exploration of Behavior Foundation Models (BFMs), where we seek to understand their scaling behavior with the attention and respect it deserves. Scaling is not the ultimate goal itself; rather, it serves as a concrete and systematic approach that allows us to uncover meaningful insights into how to improve the overall performance of humanoid control.
All related resources are now fully open-sourced. We hope that our explorations can contribute, even in a small way, to the broader community.
Paper: arxiv.org/abs/2607.15163
Website: scalebfm.github.io/
Code (Almost Everything You Need): github.com/zengweishuai/Scal…
Most motion papers tailor one controller to one specific task. This year at SIGGRAPH, our research team asks: can motor control itself be pretrained and reused?
Generative Pretrained Controllers, or GPC, turn motor skills into a vocabulary of discrete tokens and train a transformer-based generative controller through next-token prediction. Just like GPT, the same pretrained controller can then be fine-tuned to solve new tasks.
Trained on 600+ hours of motion, GPC runs in real-time inside a physics simulation, producing natural and physically grounded behaviors for interactive control.
We are arriving in ICRA, Vienna for presenting our Behavior Foundation Model for Humanoid Robots at Interactive Session 1 (Hall C), TuI1I.120, June 2nd.
Come and strike up a conversation on anything about humanoid robots and beyond~
We are excited to re-introduce our Behavior Foundation Model for Humanoid Robots, built upon a unified perspective of diverse WBC tasks, as a promising step toward a foundation model for general humanoid control.
🔗Website: bfm4humanoid.github.io
📜Paper: arxiv.org/abs/2509.13780
(5) Details on our project may refer to the upcoming paper and website. We would fully open-source our code by the end of this month, including dataset aggregation, retargeting, model pretraining and deployment. So stay tuned!
2
5
1,552
(6) Due to the constraint, I could not upload a high-resolution video. If you wanna fully enjoy the demo, RedNote might be a place for you: xiaohongshu.com/explore/6a09…
1
7
1,483














