LeCAR-Lab/BFM-Zero
By LeCAR-Lab · ↓ 0 · ♥ 3 · Updated 2026-03-11
What's in this repo
This page lists the files in LeCAR-Lab/BFM-Zero, including FBcprAuxModel.onnx and more.
- 2 ONNX models (.onnx files)
- 31 files, including 13 .json, 7 .pkl, 2 .safetensors, 2 .onnx, 1 .md, 1 .hdf5
- Last updated 2026-03-11
ONNX files
| File | Size | Download |
|---|---|---|
| model/exported/FBcprAuxModel.onnx | — | Download |
| new_model_for_training_code_inference/exported/FBcprAuxModel.onnx | — | Download |
How to use
These ONNX files can be loaded with ONNX Runtime. To inspect a model graph, upload the file to the Netron viewer. Download links point to the original files on Hugging Face.
README
BFM-Zero Checkpoints 💾🤖
This repository hosts the pretrained BFM-Zero checkpoints used in our work on agile humanoid control.
- 🌐 Project website: https://lecar-lab.github.io/BFM-Zero/
- 📄 Paper (arXiv): https://arxiv.org/abs/2511.04131
- 🔗 Code: https://github.com/LeCAR-Lab/BFM-Zero
For detailed usage and environment setup, please refer to the READMEs in those GitHub branches.
Citation
If you use BFM-Zero in your research, please cite:
@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}
}
license: cc-by-nc-4.0
Model info
Created: 2025-12-15
Updated: 2026-03-11
View on Hugging FaceFiles (31)
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