Physical AI
Table of Contents

Part II · Methodology

Chapter 07

Foundation Models for Whole-Body Motor Control

Foundation models for whole-body motor control, connecting body dynamics and state estimation with command-conditioned control, recovery, and safety.

Chapter Outline

  1. 7.1

    Scope, Taxonomy, and Control Interfaces

    p. 161
  2. 7.2

    Body Dynamics and State Estimation

    p. 167
  3. 7.3

    Command-Conditioned Motor Control

    p. 172
  4. 7.4

    Motor Pretraining and Dexterous Whole-Body Control

    p. 178
  5. 7.5

    Real-Time Execution, Recovery, and Safety Control

    p. 186

The outline is based on the draft manuscript. Full chapter content will be available after release.