Stanford HomeBody lets GPT-6 Astra call skills to make a Unitree G1 tidy a kitchen

What happened

Stanford's HomeBody project connects GPT-6 Astra to a Unitree G1 in a kitchen, where it follows language instructions to gather coffee bags, throw away a carton, and get medicine from a drawer to hand to a person. The system works in three stages: it first explores the kitchen and saves camera images, lidar, and joint poses as spatial memory; then reconstructs a digital kitchen in Isaac Sim; finally Astra uses images, maps, and memory to call navigation, grasping, placing, and drawer-opening skills.

Reported by 2 sources

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