Author

Yu-Han Gong

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Preprint Aug 2026

GigaBrain-WBC-0.5: A Behavior World Model for Robust Humanoid Whole-Body Tracking with Environment Interaction

To the knowledge, this work provides the first demonstration of real-time cross-terrain whole-body teleoperation on a humanoid robot, alongside object interaction, stable responses to missing supports, and robust recovery from falls.

Zi-Yang Cheng, Tian-Shu Tang, Jin-Xi Lan et al. · 0 citations

#artificial intelligence Preprint Aug 2026

GigaBrain-WBC-0.5: A Behavior World Model for Robust Whole-Body Control with Environment Interaction

GigaBrain-WBC-0.5, the first Behavior World Model for humanoid whole-body control, is presented, which trains a causal Transformer to jointly predict its next action, next state, and the distribution over its next latent behavior command, so the network that acts also models how the environment shapes what it can do ne...

Zi-Yang Cheng, Tian-Shu Tang, Jin-Xi Lan et al. · 1 citation