BFM-Zero Checkpoints 💾🤖

This repository hosts the pretrained BFM-Zero checkpoints used in our work on agile humanoid control.

• 🌐 Project website: https://lecar-lab.github.io/BFM-Zero/
• 📄 Paper (arXiv): https://arxiv.org/abs/2511.04131
• 🔗 Code: https://github.com/LeCAR-Lab/BFM-Zero

For detailed usage and environment setup, please refer to the READMEs in those GitHub branches.

Citation

If you use BFM-Zero in your research, please cite:

@article{li2025bfmzero,
  title   = {BFM-Zero: A Promptable Behavioral Foundation Model for Humanoid Control Using Unsupervised Reinforcement Learning},
  author  = {Yitang Li and Zhengyi Luo and Tonghe Zhang and Cunxi Dai and Anssi Kanervisto and Andrea Tirinzoni and Haoyang Weng and Kris Kitani and Mateusz Guzek and Ahmed Touati and Alessandro Lazaric and Matteo Pirotta and Guanya Shi},
  journal = {arXiv preprint arXiv:2505.06776},
  year    = {2025}
}

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license: cc-by-nc-4.0