arxivcs.ROcs.AIcs.CV2026-06-29
ReactiveBFM: Reactive Closed-Loop Motion Planning Towards Universal Humanoid Whole-Body Control
Xiao Chen, Weishuai Zeng, Xiaojie Niu, Zirui Wang, Jianan Li, Huayi Wang, et al.
While current Behavior Foundation Models (BFMs) provide robust control priors for humanoids, they only execute pre-defined reference motions. As a result, they are vulnerable to environmental shifts and incapable of reactive whole-body coordination. Naively cascading them with ge…