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Sanctuary Phoenix · Stack
embodiment · Humanoid
checked 1 Sep 2026
Sanctuary Phoenix
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Eleven canonical layers with humanoid labels · layers that do not apply are omitted
Robot MRI · HUMANOID
Sanctuary Phoenix
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VLA / policy models
Task planning
Perception
State estimation
Whole-body control
Compute
Cameras, depth, IMU, F/T
Joint actuators
Hands / grippers
Battery, BMS
Frame, joints, legs