---
publication_id: "OT-2026-000001996"
title: "Bipedal action model for humanoid robot"
published_at: "2026-09-15T19:10:04.376220Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001996"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1664"
  - "b25j9/1664"
  - "b25j9/1664"
  - "b25j9/16"
  - "b25j9/161"
  - "b25j9/161"
---

# Bipedal action model for humanoid robot

## Abstract

The present disclosure provides a system for generating motor control commands for a humanoid robot, comprising an alpha model with over 1 billion parameters that processes visual observations and language instructions at a first frequency to generate contextual embeddings, and a beta model operating at a higher second frequency. The beta model includes an embodiment-specific state encoder projecting robot state information into a shared embedding space, a diffusion transformer module generating denoised action sequences through iterative flow-matching that cross-attends to the alpha model's contextual embeddings, and an embodiment-specific action decoder converting denoised sequences into motor control commands. The beta model generates action chunks comprising future action sequences over a predetermined time horizon in a single inference step, with the complete system having less than 5 billion parameters.