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Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Qwen3-1.7B

1.7B↓ 526

Ornith-1.0-9B

H100↓ 3.9M

DeepSeek-V3

FP8↓ 1.2M

Llama-3.1-405B

H200↓ 892

Pixtral-12B

Vision↓ 450

Mistral-Large

V2↓ 120

GPT-4o

Omni↓ 12k

Claude-3.5

Sonnet↓ 8k

Gemini-1.5

Pro↓ 2M

NV-Embed-v2

Embed↓ 18k

Cosmos-1.0

Video↓ 90

1X NEO

Physical↓ 12

FSD v12

World↓ 36

BGE-M3

Embed↓ 8k

FLUX.1

Image↓ 4 steps

Stable-Diff

Video↓ 24

Researchfrom HOROS Lab.

Open research papers and physical intelligence foundation models from HOROS Lab for certified safe control, dexterous manipulation, and next-generation humanoid robots.

HOROS Lab / Physical intelligence for humanoid robots

Physical Intelligence & Humanoid Robotics

Certified predictive safety filters, nonstationary tactile adaptation, and dexterous manipulation foundation models for humanoid robots.

01

arXiv 2611.05810

cs.RO · eess.SY / 2026

Humanoid RobotsDexterous Handsp-CBF Safety

Sunil Kumar Chavhan

Sunil Kumar Chavhan

HOROS PROBE-1: Uncertainty-Aware Safe Adaptation for Multifingered Grasping Under Nonstationary Contacts

An uncertainty-aware physical intelligence model for multifingered humanoid hands facing nonstationary contacts. Couples linearized Hunt-Crossley dynamics with an 8-sided predictive Control Barrier Function (p-CBF) and ACI, delivering 0.0% drops and 0.0% crush damage across 6,200 Isaac Lab episodes.