Stanford and Caltech researchers let an AI model drive a Unitree G1 to tidy a kitchen

Researchers from Stanford and Caltech put the GPT Astra model in direct control of a Unitree G1 humanoid, giving it a library of basic skills instead of a separate vision-language-action model. The robot mapped a kitchen with camera and lidar, built a digital twin, put items away on command and fetched medicine from a drawer without task-specific training data, though slowly.

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