Helix 02 adds learned whole-body control; robot runs a four-minute dishwasher task autonomously

Figure/Helix

Helix 02 extends Figure's AI to control the entire robot with one learned system handling walking, manipulation, balance and touch. Figure demonstrated a continuous four-minute dishwasher unload-and-load task involving 61 coordinated actions with no human intervention, the longest and most complex autonomous sequence shown on any humanoid.

• Whole-body control: single neural system from pixels to joint commands; three-tier architecture with 10M-parameter S0 at 1 kHz.
• S0 balance layer trained on 1,000+ hours human motion data; S1 sensor-to-joint at 200 Hz; S2 semantic reasoning layer.
• 61-action sequence: walking while carrying delicate items, hip/foot as tools, bimanual coordination, error recovery.
• 4-minute autonomous dishwasher task without teleoperation marks breakthrough in long-horizon household robot autonomy.