---
license: apache-2.0
language:
- en
tags:
- robotics
- navigation
- video-to-navigation
- diffusion-transformer
- optical-flow
- humanoid
- GENESIS
- unitree-g1
library_name: pytorch
pipeline_tag: robotics
---

# FlowDiT V3 Humanoid — Video-to-Navigation (GENESIS)

Part of the **GENESIS** research framework: video-conditioned robot learning.

**Paper**: [Action Agent: Agentic Video Generation Meets Flow-Constrained Diffusion](https://arxiv.org/abs/2605.01477) (IROS 2026)

**Code**: [github.com/jeffrinsam/GENESIS](https://github.com/jeffrinsam/GENESIS) → `part2_navigation/flow_constrained_v3_humanoid/`

## Model Description

FlowDiT V3 Humanoid is an inference-optimized Diffusion Transformer specialized for **bipedal humanoid navigation** (Unitree G1). It extends FlowDiT V2 with humanoid-specific motion constraints and whole-body balance priors.

**Architecture:**
- **Visual encoder**: DINOv2-ViT-B/14 (frozen)
- **Flow encoder**: RAFT optical flow with humanoid-specific temporal attention
- **DiT backbone**: Enlarged Diffusion Transformer with balance-constraint cross-attention
- **Output**: 3-DOF velocity command `[vx, vy, yaw_rate]` + gait phase signal

**Target robot**: Unitree G1 humanoid (inference only — see code for the training pipeline).

**Runtime**: PyTorch 2.9.1+cu128, requires ~4 GB VRAM for inference.

## Performance

Evaluated on Unitree G1 in Isaac Sim navigation tasks:

| Metric | Value |
|--------|-------|
| Success Rate (SR @ 3.0 m) | 100% |
| SR @ 1.0 m (post-processed) | ~39% |
| Avg Trajectory Error (ATE) | 0.38 m |

## Usage

```bash
# Activate the V3 inference venv (torch 2.9.1+cu128)
cd GENESIS/part2_navigation/flow_constrained_v3_humanoid
source .venv/bin/activate

python infer_humanoid.py \
  --checkpoint flowdit_v3_humanoid_best.pt \
  --goal_video goal.mp4 \
  --current_obs obs.jpg
```

Download via the GENESIS checkpoint script:
```bash
bash scripts/download_checkpoints.sh
```

## Checkpoint Details

| File | Size | Format |
|------|------|--------|
| `flowdit_v3_humanoid_best.pt` | 982 MB | PyTorch state dict + config |

## Citation

```bibtex
@inproceedings{sam2026actionagent,
  title     = {Action Agent: Agentic Video Generation Meets Flow-Constrained Diffusion},
  author    = {Sam, Jeffrin and Khang, Nguyen and Mahmoud, Yara and
               Altamirano Cabrera, Miguel and Tsetserukou, Dzmitry},
  booktitle = {2026 IEEE/RSJ International Conference on Intelligent Robots
               and Systems (IROS)},
  year      = {2026},
  note      = {arXiv:2605.01477}
}
```

## License

Apache 2.0. See [LICENSE](https://github.com/jeffrinsam/GENESIS/blob/main/LICENSE).