Next-token prediction paper demonstrates real-world humanoid locomotion on Digit

Key points

• The paper casts humanoid locomotion as next-token prediction over sensorimotor trajectories using a causal transformer.
• The authors use Agility Robotics Digit as the physical humanoid platform and report zero-shot real-world walking in San Francisco.
• It matters for Digit because it is a major external learning-based locomotion result demonstrated on the platform.