Being-0: A Humanoid Robotic Agent with Vision-Language Models and
  Modular Skills
Authors: name: Haoqi Yuan; name: Yu Bai; name: Yuhui Fu; name: Bohan Zhou; name: Yicheng Feng; name: Xinrun Xu; name: Yi Zhan; name: Börje F. Karlsson; name: Zongqing Lu
Published: 2025-03-16 14:53:53

Abstract: Building autonomous robotic agents capable of achieving human-level
performance in real-world embodied tasks is an ultimate goal in humanoid robot
research. Recent advances have made significant progress in high-level
cognition with Foundation Models (FMs) and low-level skill development for
humanoid robots. However, directly combining these components often results in
poor robustness and efficiency due to compounding errors in long-horizon tasks
and the varied latency of different modules. We introduce Being-0, a
hierarchical agent framework that integrates an FM with a modular skill
library. The FM handles high-level cognitive tasks such as instruction
understanding, task planning, and reasoning, while the skill library provides
stable locomotion and dexterous manipulation for low-level control. To bridge
the gap between these levels, we propose a novel Connector module, powered by a
lightweight vision-language model (VLM). The Connector enhances the FM's
embodied capabilities by translating language-based plans into actionable skill
commands and dynamically coordinating locomotion and manipulation to improve
task success. With all components, except the FM, deployable on low-cost
onboard computation devices, Being-0 achieves efficient, real-time performance
on a full-sized humanoid robot equipped with dexterous hands and active vision.
Extensive experiments in large indoor environments demonstrate Being-0's
effectiveness in solving complex, long-horizon tasks that require challenging
navigation and manipulation subtasks. For further details and videos, visit
https://beingbeyond.github.io/being-0.