## Introduction

Building generalist robot controllers that can perform many tasks on demand is a major goal in vision-language-action (VLA) models and robotics. **BFM-Zero** (Behavioral Foundation Model – Zero) is a recent framework tackling this by training a **single humanoid policy** that can be _prompted_ to execute diverse skills without retraining. Unlike traditional approaches that rely on carefully crafted task rewards or behavior cloning from demonstrations, BFM-Zero uses **unsupe...