This repo is used in the FRoM-W1 work. Please refer to that paper and codebase for now.
If you find our work useful, please cite it in the following way:
@article{DBLP:journals/corr/abs-2601-12799,
author = {Peng Li and Zihan Zhuang and Yangfan Gao and Yi Dong and Sixian Li and Changhao Jiang and Shihan Dou and Zhiheng Xi and Enyu Zhou and Jixuan Huang and Hui Li and Jingjing Gong and Xingjun Ma and Tao Gui and Zuxuan Wu and Qi Zhang and Xuanjing Huang and Yu{-}Gang Jiang and Xipeng Qiu},
title = {FRoM-W1: Towards General Humanoid Whole-Body Control with Language Instructions},
journal = {CoRR},
volume = {abs/2601.12799},
year = {2026},
url = {https://doi.org/10.48550/arXiv.2601.12799},
doi = {10.48550/ARXIV.2601.12799},
eprinttype = {arXiv},
eprint = {2601.12799},
timestamp = {Tue, 24 Mar 2026 08:45:06 +0100},
biburl = {https://dblp.org/rec/journals/corr/abs-2601-12799.bib},
bibsource = {dblp computer science bibliography, https://dblp.org}
}