Apple Discloses HALO Autonomous Control System for Humanoid Robots with 91% Average Success Rate on Single Tasks
苹果披露人形机器人自主控制系统HALO 单项任务测试平均成功率91%丨盘前线索
On November 4, Apple's research team submitted a paper to arXiv titled 'Perceptive Humanoid Motion from Simulation,' disclosing the HALO autonomous control system and open-sourcing code for data generation, model training, and deployment. The system was tested in six unscanned real-world environments across 360 single tasks, achieving an average success rate of 91%. Tests on three combined tasks in one environment yielded a 70% average success rate. The team noted current reliance on visual perception, with tactile sensing as a future improvement direction.
Source: Chinese robotics — Hardware and sensing · Read original article ↗
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
single_task_tests
360
Reported trials
View original evidence
据论文披露，研究团队在6个未预先扫描或建图的真实环境中开展360次单项任务测试，平均成功率为91%；另在一个真实环境中，对3种组合任务分别开展10次测试，平均成功率为70%。
Open source S4Reported success rate
91%
View original evidence
据论文披露，研究团队在6个未预先扫描或建图的真实环境中开展360次单项任务测试，平均成功率为91%；另在一个真实环境中，对3种组合任务分别开展10次测试，平均成功率为70%。
Open source S4
- paper: not_reported
- code: Reported pending Open source S3
- weights: not_reported
- dataset: not_reported
- code: not_reported
What remains unknown
Not established in the collected evidence: Environment, Control, Data origin.
Reported performance applies to the described task. It does not establish general autonomy or deployment readiness.
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
据论文披露，研究团队在6个未预先扫描或建图的真实环境中开展360次单项任务测试，平均成功率为91%；另在一个真实环境中，对3种组合任务分别开展10次测试，平均成功率为70%。
Open source S4
2025年全球人形机器人出货量约1.8万台，2026年上半年国内产量已超4万台。
Open source S7
进入2026年，人形机器人产业化进程显著提速，工信部数据显示2026年上半年国内产量已超4万台，全年整机产量有望突破10万台。
Open source S12
长城证券指出，2025年被视为人形机器人从实验室走向产业化的关键元年，全球出货量约1.8万台。
Open source S11
近日，据澎湃新闻报道，当地时间11月4日，苹果研究团队在预印本平台arXiv提交论文《Perceptive Humanoid Motion from Simulation》，披露了人形机器人自主控制系统 HALO ，并公开了数据生成、模型训练和部署代码，涵盖动作生成、动作跟踪、任务编排以及仿真和真实机器人运行等环节。
Open source S3
Source：Chinese robotics — Hardware and sensing · news.qq.com