Being-M0.7: A Latent World-Action Model for Humanoid Robots

arXiv:2610.11283 · cs.RO, cs.CV, cs.LG · Submitted 2026-10-08 · Read on arXiv

cs.RO, cs.CV, cs.LG

Submitted: 2026-10-08

Updated: 2026-10-08

Terminology

• Transformer — 11× in this paper · explained in 2 episodes
• Ablation — 6× in this paper · explained in 1 episode
• Benchmark — 5× in this paper · explained in 2 episodes
• Embeddings — 5× in this paper · explained in 2 episodes
• Foundation Model — 5× in this paper · explained in 3 episodes
• Adaptation — 3× in this paper · explained in 1 episode
• Flow Matching — 3× in this paper · explained in 8 episodes
• Generalization — 3× in this paper · explained in 13 episodes
• Latent Space — 3× in this paper · explained in 7 episodes
• Mixture of Transformers — 3× in this paper
• Action Flow — 2× in this paper · explained in 1 episode
• Diffusion Model — 2× in this paper · explained in 8 episodes
• Foundation Models — 2× in this paper · explained in 7 episodes
• Grounding — 2× in this paper · explained in 3 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Accuracy — 1× in this paper · explained in 1 episode
• Action Chunking — 1× in this paper · explained in 1 episode
• Action Space — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Diffusion Models — 1× in this paper · explained in 6 episodes
• Multimodal Dataset — 1× in this paper · explained in 2 episodes
• Pruning — 1× in this paper · explained in 4 episodes

Sources

• HOMIE: Humanoid Loco-Manipulation with Isomorphic Exoskeleton Cockpit
• $\Psi_0$: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation
• EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstration
• RT-1: Robotics Transformer for Real-World Control at Scale
• Octo: An Open-Source Generalist Robot Policy
• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• Cosmos World Foundation Model Platform for Physical AI
• World Action Models are Zero-shot Policies
• Being-H0.5: Scaling Human-Centric Robot Learning for Cross-Embodiment Generalization
• Being-H0.7: A Latent World-Action Model from Egocentric Videos
• ResMimic: From General Motion Tracking to Humanoid Whole-body Loco-Manipulation via Residual Learning
• HDMI: Learning Interactive Humanoid Whole-Body Control from Human Videos
• LessMimic: Long-Horizon Humanoid Interaction with Unified Distance Field Representations
• VisualMimic: Visual Humanoid Loco-Manipulation via Motion Tracking and Generation
• Human Motion Diffusion Model
• EgoTwin: Dreaming Body and View in First Person
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation
• DINOv3
• SONIC: Supersizing Motion Tracking for Natural Humanoid Whole-Body Control

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving