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TeleAI and others propose NEXUS cross-terrain perception and motion control foundation model

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The China Telecom Artificial Intelligence Research Institute (TeleAI), Gamma Intelligence, together with Shanghai Jiao Tong University, the University of Hong Kong, and Zhejiang University, jointly proposed NEXUS, a cross-terrain perception and motion control foundation model for humanoid robots, enabling the robot to autonomously adjust posture and contact according to terrain while preserving motion intent, and completed cross-terrain whole-body teleoperation validation on the Unitree G1. NEXUS can be deployed to the Unitree G1 without fine-tuning, uses an onboard depth camera to obtain local terrain, and the policy runs at 50Hz on a Jetson Orin NX. Training used 10 cm steps and slopes of about 16.7°, while control tests used 5 cm and 15 cm steps and slopes of about 8.5° and 24.2°, respectively; NEXUS builds terrains such as steps and slopes at scale in simulation, combines existing flat-ground motions with terrain, and generates adapted versions offline.