HomeBody: A humanoid that explores, remembers, and acts on its own

HomeBody equips a Unitree G1 humanoid with GPT-Astra, a large-vision-language model that stores persistent spatial memory and a library of motor skills. The robot constructs a digital twin from camera, LiDAR, and joint data, enabling the VLM to reason about unseen areas and plan long-horizon tasks. It cleans a kitchen and retrieves medicine by recalling stored keyframes, selecting appropriate arm actions, and revising decisions when feedback indicates failure.