[D] OpenAI + Figure One

I guess a lot of people have seen the Figure One demo by now, if not: [https://www.youtube.com/watch?v=Sq1QZB5baNw](https://www.youtube.com/watch?v=Sq1QZB5baNw)


Does anybody have some information on what (type) of model is used for the robotic movements? Is it some form of RL or offline RL? I understand that the interpretation of images/language happens through some multimodal llm/vlm, but I want to learn a bit what kind of actions/instructions it outputs to then for example move objects. What input is given to such a …

example form images information interpretation kind language learn llm machinelearning movements multimodal objects offline robotic through type vlm