Helix: A Vision-Language-Action Model for Generalist Humanoid Control

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Introduced Helix, a generalist Vision-Language-Action (VLA) model for humanoid control. Key contributions include: enabling full-upper-body control (35-DoF at 200Hz), demonstrating multi-robot collaboration on novel tasks, achieving zero-shot object manipulation via natural language prompts, and implementing a 'System 1, System 2' architecture for decoupled high-level understanding and low-level control. The model is trained end-to-end with a single set of weights and optimized for onboard embedded GPU deployment.