Delta Intelligence unveils Delta-0: a humanoid foundation model for whole-body loco-manipulation across 69 DoFs
Delta Intelligence has released Delta-0, a humanoid foundation model for whole-body loco-manipulation built on a co-designed brain and controller. The brain is a latent world-action model: a mixture-of-transformers with three branches (vision-language reading multi-view observations and instructions, a vision branch predicting future frames in DINO semantic feature space, and an action branch modelling whole-body motion from proprioception), trained jointly in four modes - forward dynamics, inverse dynamics, visual planning and policy-only. The controller converts motion commands into joint targets across 69 degrees of freedom through a delta-action interface shared by policy output, teleoperation and human corrections; in zero-shot evaluation on roughly 3 h 31 min of everyday-task motion it beats HEFT, MimicLite v1.1, SONIC v1.1 and ScaleBFM XL on both global root error and MPJPE. Pretraining uses more than 10,000 hours of paired egocentric video and whole-body human motion, plus a 154-dimensional shared action representation padded to 180 so single-arm, dual-arm, ego, UMI and humanoid data all live in one action space; high-precision tracking coverage rises from 29.2% to 72.6% as motion data goes from 10% to 100%. Evaluation runs a real-to-sim-to-real loop, rebuilding deployment scenes into simulation assets with 3D reconstruction and LLM agents, running repeatable autonomous rollouts, then returning selected checkpoints to hardware. Real-world RL post-training uses a value model that estimates cost-to-go, giving positive or negative conditioning signals to autonomous action chunks and to human-in-the-loop corrections - on the dishwasher task in a mirrored kitchen layout the success rate climbs from 20% (4/20) after SFT to 65% (13/20). The demo video covers six long-horizon household tasks: loading a record on a turntable, making a bed, picking a toy off the floor, opening a dishwasher, pressing a step trash can and sitting down on a sofa.
