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Perceptive Behavior Foundation Model: Adapting Human Motion Priors to Robot-Centric Terrain
arXiv:2606.08059v1 Announce Type: new Abstract: Humanoid behavior foundation models aim to acquire reusable whole-body control policies from broad human motion priors, enabling a single controller to produce diverse and expressive behaviors. However, existing motion-centric foundation policies largely assume that the reference motion is already physically compatible with the robot's surroundings.