Benchmarking Behavioral Steerability in Behavior Foundation Models

arXiv:2610.10198 · cs.RO · Submitted 2026-10-07 · Read on arXiv

cs.RO

Submitted: 2026-10-07

Updated: 2026-10-11

Project page: https://robosteer.github.io/Abstract

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

Terminology

• Benchmarking — 1× in this paper · explained in 3 episodes
• Foundation Model — 1× in this paper · explained in 3 episodes
• Foundation Models — 1× in this paper · explained in 7 episodes

Sources

• GPT-4 Technical Report
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• UniAct: Unified Motion Generation and Action Streaming for Humanoid Robots
• DeepSeek-V3 Technical Report
• Human Motion Diffusion Model
• TextOp: Real-time Interactive Text-Driven Humanoid Robot Motion Generation and Control
• Qwen3 Technical Report
• Behavior Foundation Model for Humanoid Robots
• Scaling Behavior Foundation Model for Humanoid Robots

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