GigaBrain-WBC-0.5: A Behavior World Model for Robust Humanoid Whole-Body Tracking with Environment Interaction
Overview
This paper introduces InterTrack, the first behavior world model (BWM) designed for robust whole-body tracking on humanoids that includes environment interaction. The system uses a Transformer to predict actions, states, and behavior distributions conditioned on the environment. An automatic annotation pipeline reconstructs 3D support geometry from retargeted motions to scale training data. At deployment, the policy handles implausible commands with best-effort responses. Quantitative results show an 81.3% success rate on terrain interaction (4.3x the best baseline), a 99.3% fall-recovery rate, and improved free-space tracking compared to three leading baselines. The work also demonstrates real-time cross-terrain whole-body teleoperation with object interaction and robust recovery from falls.
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Control: teleoperated
“est-effort" manner. Quantitatively, InterTrack achieves an 81.3% success rate on terrain interaction (4.3 times the best evaluated baseline) and a 99.3% fall-recovery rate, while also improving free-space tracking and outperforming three leading tracking baselines across all of these regimes. To our knowledge, we provide the first demonstration of real-time cross-terrain whole-body teleoperation on a humanoid robot,”
Exact source · revision 1Source owner not reported
Reported quantity · Reported success rate: 81.3 percent · reported trials · Differing source assertions
“est-effort" manner. Quantitatively, InterTrack achieves an 81.3% success rate on terrain interaction (4.3 times the best evaluated baseline) and a 99.3% fall-recovery rate, while also improving free-space tracking and outperforming three leading tracking baselines across all of these regimes. To our knowledge, we provide the first demonstration of real-time cross-terrain whole-body teleoperation on a humanoid robot,”
Exact source · revision 1Source owner not reported
Reported quantity · Reported success rate: 99.3 percent · reported trials · Differing source assertions
“est-effort" manner. Quantitatively, InterTrack achieves an 81.3% success rate on terrain interaction (4.3 times the best evaluated baseline) and a 99.3% fall-recovery rate, while also improving free-space tracking and outperforming three leading tracking baselines across all of these regimes. To our knowledge, we provide the first demonstration of real-time cross-terrain whole-body teleoperation on a humanoid robot,”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalGigaBrain-WBC-0.5: A Behavior World Model for Robust Humanoid Whole-Body Tracking with Environment Interaction
This paper introduces InterTrack, the first behavior world model (BWM) designed for robust whole-body tracking on humanoids that includes environment interaction. The system uses a Transformer to predict actions, states, and behavior distributions conditioned on the environment. An automatic annotation pipeline reconstructs 3D support geometry from retargeted motions to scale training data. At deployment, the policy handles implausible commands with best-effort responses. Quantitative results show an 81.3% success rate on terrain interaction (4.3x the best baseline), a 99.3% fall-recovery rate, and improved free-space tracking compared to three leading baselines. The work also demonstrates real-time cross-terrain whole-body teleoperation with object interaction and robust recovery from falls.
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