P-BFM: Perceptive Behavioral Foundation Models for Humanoid Control via Unsupervised Reinforcement Learning

Behavioral foundation models (BFMs) provide humanoids with reusable repertoires of whole-body behaviors; in real-world humanoid control, the same behavioral intent may require fundamentally different motions under different terrain constraints. Covering such variation with terrain-matched demonstrations requires enumerating a combinatorial space of behaviors and terrain geometries.

Aus dem Abstract. Unsere Zusammenfassung folgt.