# Humanoid robot system scores 85.7% on seven real-robot tasks

> Researchers describe a system that previews and scores robot command sequences before execution. Its reported success fell to 65.7% with unfamiliar object setups.

Oossa · 2026-11-04 · https://oossa.com/en/humanoid-robot-system-scores-85-7-on-seven-real-robot-tasks

Researchers have introduced action-conditioned latent foresight, a system that lets a humanoid robot score proposed movement-and-hand-command sequences before carrying them out. It predicts whether a sequence will make progress toward a task goal, then executes part of the best-scoring sequence and replans from a new observation.

In the researchers’ tests, the system succeeded on 85.7% of seven real-robot tasks under standard conditions, versus 70.0% for GR00T N1.7. Success fell to 65.7% with unseen object configurations, compared with 48.6% for GR00T N1.7.

## The facts

- The paper reports 89.7% average success across ten tasks in the SIMPLE simulation benchmark, compared with 82.0% for DiT4DiT.
- The paper was submitted to arXiv on November 3, 2026.

## Why it matters

For robotics researchers testing humanoid task performance, the results suggest that previewing command sequences may help, but the lower score on unfamiliar setups shows performance remains sensitive to object arrangements.

## Sources & references

1. [Coordinating Humanoid Loco-Manipulation through Action-Conditioned Latent Foresight](https://arxiv.org/abs/2611.04839) – arXiv cs.RO, 2026-11-04

Last updated: 2026-11-04