Apple Research Team Discloses Progress on Humanoid Robot 'Brain' HALO System
苹果研究团队披露机器人“大脑”进展 单项任务测试平均成功率为91%
On November 4, Apple's research team submitted a paper to arXiv detailing the HALO autonomous control system for humanoids. The study reports an average success rate of 91% across 360 single-task tests in six unscanned environments and 70% for combination tasks in one environment. Data generation utilized 250 NVIDIA H100 GPUs, while action generation and tracking relied on specific GPU configurations. The team noted that simulation data still required manual input and that current systems rely primarily on visual perception.
Source: Chinese robotics — Research news discovery · 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.
- Control
- Reported autonomousOpen source S3
Reported numbers
single_task_tests
360
Reported trials
Reported success rate
91%
combination_task_tests
10
Reported trials
Reported success rate
70%
Reported success rate
50%
gpu_hours_for_data_synthesis
≈48 hours
- paper: not_reported
- code: Reported pending Open source S4
- weights: not_reported
- dataset: not_reported
- code: not_reported
What remains unknown
Not established in the collected evidence: Environment, 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%。
Open source S5
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。
Open source S3
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 S6
其中，“俯身通过障碍—走向目标—推箱子”这一组合的成功率为50%。
Open source S7
据介绍，研究团队使用250张英伟达H100 GPU，耗时约48小时合成主要训练数据。
Open source S8
动作生成器通过模仿学习训练，使用64张B200；动作跟踪器经强化学习、策略蒸馏等步骤训练，使用4张H100。
Open source S9
研究团队还公开了数据生成、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 S4
Source：Chinese robotics — Research news discovery · msn.cn