NomosEmbodied Humanoid & Dexterous Hand Crucible
Moravec's Paradox in 3D: locomotion demos look solved until an unmodeled torso shove or low-friction torsional twist couples whole-body balance with multi-finger manipulation. Orbit around a 29-DOF humanoid and zoom into its 21-DOF 5-finger hand to compare unconstrained VLA failure modes against Nomos Dual-Scale Control Barrier Functions (500/500 survival).
GelSight Tactile Pressure & Safe Grasp Corridor
Payload & Domain Perturbations
500-Seed Multi-Payload Oracle & MJCF
1. Whole-Body 29-DOF ZMP & Capture-Point Stability
End-to-end VLA models stream joint targets directly from neural weights without explicit Zero-Moment Point (ZMP) or Capture-Point invariance. Reaching forward under an unmodeled lateral torso shove drives ZMP outside the convex foot support polygon:
Nomos enforces a whole-body ZMP Control Barrier Function (CBF), commanding counter-phase pelvis shift and ankle impedance damping so the humanoid absorbs 35 N·s torso shoves without tipping.
2. GelSight Tactile Touch Pressure (kPa) & 4-Object Manipulation
Force alone cannot separate an egg from cast iron: shell fracture depends on peak local fingertip pressure P_i = f_n,i / A(f_n,i) across compliant elastomer pads while preventing incipient shear slip:
Switch across Raw Hen Egg (62g), Wet Borosilicate Glass (240g), Sloshing Canister (850g), and Cast-Iron Mass (2.4kg) to watch unconstrained VLA crack eggs or tip over while Nomos Tactile CBF threads the Safe Grasp Corridor.
3. Compiled Go SSoT to Multi-Body MuJoCo MJCF
EmbodiedCrucibleContract in Go serves as the sole Single Source of Truth, deterministically reflecting both Draft 2020-12 JSON Schema and hierarchical multi-body MuJoCo MJCF XML (pelvis, legs, torso, arms, and 5 articulated digits) with SHA-256 actuator parity.