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Figure 02 · Stack
embodiment · Humanoid
checked 1 Sep 2026
Figure 02
← profile
Eleven canonical layers with humanoid labels · layers that do not apply are omitted
VLA / policy models
Intelligence
Task planning
Planning
Perception
Perception
State estimation
State estimation
Whole-body control
Control
Compute
Compute
Cameras, depth, IMU, F/T
Sensors
Joint actuators
Actuation
Hands / grippers
End effector / payload
Battery, BMS
Power
Frame, joints, legs
Mechanical