Cayden Gu

@Stanford CS ’27 | Humanoid robotics + robot learning | The Movement Lab

[Cayden Gu @CaydenGu]

Yes, GPT Astra can control a humanoid through long-horizon tasks in the real world!

HomeBody asks a simple question: can a frontier VLM skip learned VLAs entirely? @giohuh_ engineered an incredible harness that lets VLMs like Astra use persistent spatial memory to directly orchestrate composable humanoid skills — no learned VLA in the middle.

A few of my favorite moments beyond the main demo ↓

[Gio Huh @giohuh_]

What can Astra do when given a humanoid embodiment?

We built HomeBody to find out. Controlled by GPT Astra, it carries out long-horizon tasks in a previously unseen kitchen—from tidying up across the room to retrieving remembered objects from ambiguous requests—without environment-specific training data or additional policy learning.

Here's how we did it 👀: https://t.co/FFGS2F7VtI

[Guy Tevet @GuyTvt]

#HomeBody is soon going to be public for everyone!
Make sure you star https://t.co/2hSiAhS2YB and follow the updates.

@giohuh_ @CaydenGu @TakaraTruong

[Cayden Gu @CaydenGu]

What excites me most about HomeBody is upgrade path ahead. System 2 + System 0 lets the two sides improve independently, without having to retrain a monolithic VLA every time either one gets better.

Better VLMs can bring stronger spatial reasoning, planning, and faster high-level decisions. Better robot skills can bring more reliable physical execution across a wider range of tasks.

As both improve, the interface between them stays simple. That’s the direction I’m most excited to explore with future works/demos with HomeBody!

[Cayden Gu @CaydenGu]

Yes, GPT Astra can control a humanoid through long-horizon tasks in the real world!

HomeBody asks a simple question: can a frontier VLM skip learned VLAs entirely? @giohuh_ engineered an incredible harness that lets VLMs like Astra use persistent spatial memory to directly orchestrate composable humanoid skills — no learned VLA in the middle.

A few of my favorite moments beyond the main demo ↓

[Gio Huh @giohuh_]

What can Astra do when given a humanoid embodiment?

We built HomeBody to find out. Controlled by GPT Astra, it carries out long-horizon tasks in a previously unseen kitchen—from tidying up across the room to retrieving remembered objects from ambiguous requests—without environment-specific training data or additional policy learning.

Here's how we did it 👀: https://t.co/FFGS2F7VtI

[Cayden Gu @CaydenGu]

3/ Real robots fail — so HomeBody is built to recover and retry.
If a pick is slightly off, the underlying skill can track the target, adjust, replan, and retry locally — without asking Astra to make a new high-level decision for every correction.

If local recovery is exhausted, the failure reason is returned to Astra, which can reposition, choose a new target, or change the plan.

Here, the G1 misses the pill bottle and gets it on the retry:

[Gio Huh @giohuh_]

What can Astra do when given a humanoid embodiment?

We built HomeBody to find out. Controlled by GPT Astra, it carries out long-horizon tasks in a previously unseen kitchen—from tidying up across the room to retrieving remembered objects from ambiguous requests—without environment-specific training data or additional policy learning.

Here's how we did it 👀: https://t.co/FFGS2F7VtI