Stanford and Caltech researchers have developed HomeBody, a system that pairs GPT-6 Astra with the Unitree G1 humanoid robot.

The robot explores an unfamiliar kitchen, builds persistent spatial memory and a digital twin, then uses AI planning to complete multi-step tasks such as moving objects, opening drawers and retrieving items. Instead of relying on a separately trained vision-language-action model, HomeBody combines reusable motor skills and uses execution feedback to adjust its next actions.