DEPLOYDatabase

Brain

HomeBody

HomeBody is a Stanford The Movement Lab + Caltech research system (Huh, Gu, Truong; advisors Karen Liu and Guy Tevet; Sep 2026) that puts a frontier VLM (demo: GPT Astra) in charge of a Unitree G1 with persistent spatial memory and a composable skill library, without a learned VLA between high-level reasoning and motor skills. After exploring an unseen kitchen and building an Isaac Sim digital twin, the system chains navigate / pick / place / open-drawer skills for long-horizon tasks.

Project-stated limits: Real2Sim cost, VLM latency, finger-servo heat, RTX 4090 local compute. Academic research demo, not a commercial product. No GPT Astra model page created (LLM product held per prior pattern).

Research model · Maturity: Research · Closed

Machine-readable surfaces

Architecture

Frontier VLM (System 2) directly orchestrates a composable skill library (navigate, pick, place, open drawer, pick from drawer) with Super Odometry / ICP spatial memory and Real2Sim twin in NVIDIA Isaac Sim; skills run locally (RTX 4090 laptop) with remote VLM tool calls; AMO lower-body control; no trained VLA in the middle

Key facts

System (project-stated)
Project-stated (project-stated): HomeBody (Huh / Gu / Truong; advisors Liu and Tevet; Caltech + Stanford, Sep 2026) equips a frontier VLM with persistent spatial memory and a composable humanoid skill library (navigate, pick, place, open drawer, pick from drawer) so the VLM can orchestrate long-horizon loco-manipulation without a learned VLA in the middle. Demo uses a Unitree G1 in a previously unseen kitchen. Academic system, not a commercial product
Explore / Real2Sim / skill chaining (project-stated)
Project-stated (project-stated): the humanoid explores an unfamiliar kitchen (iPhone video, D435i, LiDAR SLAM, joint poses, Astra-chosen waypoints), builds a digital twin in NVIDIA Isaac Sim from that exploration data, then chains skills for tasks such as kitchen tidy and medicine retrieval from an underspecified request. Stated limits include Real2Sim setup/API cost, GPT Astra reasoning latency between skills, finger-servo overheating on extended runs, and local RTX 4090 laptop compute for the skill stack. Academic demo
HomeBody architecture (primary Stanford TML)
Stanford The Movement Lab's Sept 2026 HomeBody page describes a humanoid system that equips frontier VLMs with persistent spatial memory and a composable skill library (navigate, pick, place, open drawer) so System 2 can orchestrate long-horizon loco-manipulation without an intervening learned VLA. Demo platform noted is a Unitree G1 guided by GPT Astra in an unseen kitchen (Stanford TML)
Real2Sim and compute note (primary Stanford TML)
The same page says HomeBody uses Astra as a Real2Sim agent to build an Isaac Sim digital twin from exploration data (iPhone video, D435i, LiDAR SLAM, joint poses), and that current local skills run on a single Razer Blade laptop with an RTX 4090 while Astra runs remotely. Treat as research prototype claims (Stanford TML)
Architecture and demo platform (primary Stanford TML)
Stanford The Movement Lab / Caltech HomeBody page (Sep 2026) describes a humanoid autonomy system that lets a frontier VLM (demo: GPT Astra) directly orchestrate a composable skill library with persistent spatial memory on a Unitree G1, replacing a learned VLA between System 2 reasoning and System 0 control. Kitchen demos include multi-object cleanup and out-of-view medicine retrieval without environment-specific policy learning (authors' stated claims) (Stanford TML)
Real2Sim and compute (primary Stanford TML)
The same page says HomeBody uses Astra as a Real2Sim agent to build an Isaac Sim digital twin from G1 exploration data (iPhone video, D435i, LiDAR/SLAM, joint poses), with current skills running on a single Razer Blade laptop with an RTX 4090 while GPT Astra runs remotely. Treat hardware and pipeline details as authors-stated (Stanford TML)
Official project scope
Stanford The Movement Lab describes HomeBody as a research system that lets a frontier vision-language model orchestrate a composable humanoid skill library on a Unitree G1 in an unfamiliar kitchen (HomeBody).
Research prototype status
The Stanford project page presents HomeBody as an academic humanoid-autonomy demonstration, not a commercial robot product (HomeBody).

Common questions

What is HomeBody?
HomeBody is a Stanford The Movement Lab + Caltech research system (Huh, Gu, Truong; advisors Karen Liu and Guy Tevet; Sep 2026) that puts a frontier VLM (demo: GPT Astra) in charge of a Unitree G1 with persistent spatial memory and a composable skill library, without a learned VLA between high-level reasoning and motor skills. After exploring an unseen kitchen and building an Isaac Sim digital twin, the system chains navigate / pick / place / open-drawer skills for long-horizon tasks. Project-stated limits: Real2Sim cost, VLM latency, finger-servo heat, RTX 4090 local compute. Academic research demo, not a commercial product. No GPT Astra model page created (LLM product held per prior pattern).
Is HomeBody open source?
No. HomeBody is recorded as proprietary on the DEPLOY registry. Model weights and source are not publicly available.
What type of AI is HomeBody?
HomeBody is a research model, built on a Frontier VLM (System 2) directly orchestrates a composable skill library (navigate, pick, place, open drawer, pick from drawer) with Super Odometry / ICP spatial memory and Real2Sim twin in NVIDIA Isaac Sim; skills run locally (RTX 4090 laptop) with remote VLM tool calls; AMO lower-body control; no trained VLA in the middle architecture on the DEPLOY registry.
What is HomeBody's maturity stage?
HomeBody is at the research stage on the DEPLOY maturity ladder. Research stage means active development without commercial deployments on file.
Which robots run on HomeBody?
No robot models on the DEPLOY registry are recorded as running HomeBody. DEPLOY wires brain-to-model connections only when the wiring is verifiable from primary sources; absence may reflect pre-deployment or unverified manufacturer claims.

Sources (2)

  1. https://tml.stanford.edu/homebody/ · 2026-09-01
  2. https://x.com/carlosearias/status/2104218349123031470 · 2026-09-27
Methodology: Verified · 2 sources (no primary) · last reviewed 2026-10-09

Verification posture

Verified

Low confidence

Review state

Stable

Last reviewed 2026-10-09

Maturity + lifecycle

Maturity stage: research

Sources by quality tier

2
unclassified
Unclassified source

The framework is documented at /methodology. Corrections at /corrections. Reviewer: DEPLOY editorial team.

Methodology surface for HomeBody.

Canonical ID afb31f1b-a60f-4f94-8f0b-67d0d1b84f3e