Apple Research Team Discloses Progress on Humanoid Robot 'Brain' HALO

Apple's research team submitted a preprint titled 'Perceptive Humanoid Motion from Simulation' to arXiv, detailing the HALO autonomous control system validated on Unitree G1 robots. The system transfers actions learned in simulation to real-world environments using a three-layer architecture involving visual language models for task orchestration and reinforcement learning for joint control. The team notes that simulation data generation still required manual prompt design and human motion capture, and the system currently lacks direct tactile perception.