GigaBrain-WBC-0.5: A Behavior World Model for Robust Humanoid Whole-Body Tracking with Environment Interaction
General-purpose motion trackers enable humanoid robots to follow diverse whole-body motions while maintaining balance, but are trained only on flat ground, failing to exploit bipedal mobility over complex terrain. Cross-terrain controllers, meanwhile, are task-specific or accept only low-dimensional locomotion commands. We introduce InterTrack, the first behavior world model (BWM) for robust whole-body tracking with environment interaction. Its Transformer jointly predicts the next action, state, and behavior distribution, learning environment-conditioned dynamics. To scale interaction training data, an automatic annotation pipeline reconstructs 3D support geometry from retargeted motions...
| Authors | Ziyang Cheng, Tianshu Tang, Jinxin Lan et al. |
|---|---|
| Primary category | cs.RO |
| Published | 18 August 2026 |
| Last updated at source | 17 September 2026 |
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