OPENTECHNICAL PUBLICATION
OT-2026-000001996

Bipedal action model for humanoid robot

Published: 2026-09-15T19:10:04.376220Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001996
Categories: Robotics & Automation > Robot Architectures

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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.

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OpenTechnical publication OT-2026-000001996
Published 2026-09-15T19:10:04.376220Z
https://opentechnical.org/p/OT-2026-000001996