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

[Website]

Code

Code will be released in stages:

• Release pretrained checkpoints and sim-to-sim / sim-to-real deployment code.
• Release minimal inference code and tutorial.
• Release full training and evaluation pipelines.

License

BFM-Zero is licensed under the CC BY-NC 4.0 license. See LICENSE for details.

Citation

If you find this project useful in your research, please consider citing:

@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}
}