Preprint Open access
I-BFM: Reward-Conditioned Robust Humanoid Interaction via Unsupervised Reinforcement Learning
Behavioral foundation models (BFMs) have recently shown that a single humanoid policy can support diverse whole-body control, but extending such generality to physical interaction remains challenging. We introduce I-BFM, to our knowledge the first BFM for humanoid-object interaction. Rather than relying on task-specifi …