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Stanford and Caltech release HomeBody robot hierarchical control architecture

2 reports 2 reporting sources 2026-09-30New

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The Stanford team released the HomeBody project, which connects GPT-6 Astra to a Unitree G1 to enter a kitchen and execute language instructions, completing tasks such as gathering coffee bags, discarding cardboard boxes, and taking medicine from a drawer and handing it to a person. The system runs in three steps: first explore the kitchen and save camera images, lidar, and joint poses as spatial memory, then reconstruct a digital kitchen in Isaac Sim, and finally Astra combines images, maps, and memory to invoke skills such as navigation, grasping, placing, and opening drawers.

From 量子位

Latest development9/30 15:54 (UTC+8)
Stanford HomeBody lets GPT-6 Astra invoke skills to control Unitree G1 to tidy up the kitchen量子位

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  • GPT-6 Astra#2 overall$10 input / $50 output per million tokens
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Follow the reports to explore different sides of the event.

9/30
  1. 量子位
    Stanford HomeBody lets GPT-6 Astra call skills to make a Unitree G1 tidy a kitchen

    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.

  2. 雷锋网
    Stanford and Caltech release HomeBody, connecting GPT Astra to a Unitree G1 for hierarchical robot control

    Stanford's Movement Lab and Caltech published HomeBody, connecting GPT Astra to a Unitree G1 so the robot can explore an unfamiliar kitchen and then carry out sequences such as finding objects, getting medicine, throwing out trash, and opening drawers.

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