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BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning
6 November 2025
Yitang Li
Zhengyi Luo
Tonghe Zhang
Cunxi Dai
Anssi Kanervisto
Andrea Tirinzoni
Haoyang Weng
Kris Kitani
Mateusz Guzek
Ahmed Touati
A. Lazaric
Matteo Pirotta
Guanya Shi
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"BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning"
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