BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning

arXiv:2511.04131 · cs.RO · Submitted 2025-11-06 · Read on arXiv

cs.RO

Submitted: 2025-11-06

Updated: 2026-10-16

Comments: Accepted to ICLR 2026

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Foundation Model — 3× in this paper · explained in 3 episodes
• Foundation Models — 2× in this paper · explained in 7 episodes
• Latent Representation — 2× in this paper · explained in 2 episodes
• Reinforcement Learning — 2× in this paper · explained in 4 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Downstream Tasks — 1× in this paper · explained in 2 episodes
• Latent Space — 1× in this paper · explained in 7 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Reward Shaping — 1× in this paper · explained in 2 episodes
• Sim-to-Real Gap — 1× in this paper · explained in 6 episodes

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