Westlake Robotics · robot AI model
GAE
China · 2025
Runs on G1 by Unitree Robotics · Titan o1 by Westlake RoboticsSource and note: G1 (Unitree Robotics), Titan o1 (Westlake Robotics)D wangyf0928.github.io/gae-wlrobotics/ · Retrieved 9 November 2026
Sources retrieved: 9 November 2026 (A, B, C, D)
- What it controls
- Whole bodySource and note: What it controlsA arxiv.org/html/2609.34233v1 · Retrieved 9 November 2026Note. The paper says the action “specifies target joint positions that are executed by a low-level PD controller”, and that “GAE enables humanoids to smoothly mirror diverse whole-body behaviors”.
- Inputs
- Robot stateSource and note: InputsA arxiv.org/html/2609.34233v1 · Retrieved 9 November 2026Note. The paper says: “The controller primarily relies on human motion targets and robot proprioceptive states, without incorporating external observations such as RGB images or LiDAR.” The second input is a human motion target.
Specifications
5 of 14 stated 9 not stated
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Release1/1 disclosed
Input and output2/4 disclosed
Size and speed1/2 disclosed
Where it runs and what it is built on0/2 disclosed
Openness0/3 disclosed
The developer’s own claims1/2 disclosed
Notes
Westlake Robotics researchers describe GAE (General Action Expert) as a framework for humanoid whole-body teleoperation.
Westlake Robotics’ project page says GAE was first released on 29 September 2025; the technical paper followed in September 2026.
The GAE paper says the controller uses no external sensing.
Westlake Robotics’ website says its o1 humanoid carries the GAE system (translated from the Chinese).
Westlake Robotics’ website calls GAE a general action expert large model (translated from the Chinese).
Westlake Robotics’ GAE page says robots of different structures and sizes can load GAE, with no pre-recorded motion scripts needed (translated from the Chinese).
Westlake Robotics’ website gives its company address in Hangzhou, Zhejiang (translated from the Chinese).
Sources
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- Aarxiv.org/html/2609.34233v1Retrieved 9 November 2026
- Bwlrobo.comMain source. Retrieved 9 November 2026
- Carxiv.org/abs/2609.34233Retrieved 9 November 2026
- Dwangyf0928.github.io/gae-wlrobotics/Retrieved 9 November 2026