Research labSan Diego, CA, United States
Xiaolong Wang's robot learning group at UC San Diego; released ExBody, an expressive whole-body control policy for humanoids.
Xiaolong Wang is an associate professor in the ECE department at UC San Diego; his site states he is also a research director at Meta Superintelligence Labs after Meta acquired Assured Robot Intelligence, which he co-founded. In February 2024 his UC San Diego group released ExBody (Expressive Whole-Body Control), a reinforcement-learning policy trained on human motion-capture data that lets a Unitree H1 humanoid reproduce expressive upper-body motions while walking.
Sources: xiaolonw.github.io (19 Oct 2026) · arxiv.org (26 Feb 2024)
Research lab · University research lab at UC San Diego; no separate funding.
#65 of 104 model companies · score 15.8 / 100 · updated 19 Oct 2026
Each bar shows an input from 0 to 100% before weighting. 0 of 1 listed models have open weights. Most-starred official repository: chengxuxin/expressive-humanoid (499 stars, 19 Oct 2026).
The score (0–100) measures public, checkable evidence about a company's robot models. It does not measure private capability. A company that publishes no benchmark results and no weights can still have strong models. Every input is computed from the data on each company page, and every number there links to its source.
| Input | Weight | How it is measured |
|---|---|---|
| Published benchmarks | 35% | For each scored benchmark, the company's best result divided by the best result any company has published, averaged over the benchmarks it reports. No published results scores 0. Results come only from the model's own paper, model card or the official benchmark leaderboard. Scored: LIBERO (4-suite average success, %); SimplerEnv Google Robot, visual matching (%); SimplerEnv Google Robot, variant aggregation (%); SimplerEnv WidowX / Bridge (%); CALVIN ABC→D (average length, 0–5); RoboArena (pairwise rating). |
| Open weights | 20% | Share of the company's listed models whose weights the public can download. |
| Adoption | 20% | GitHub stars on the company's most-starred official model repository, on a log scale relative to the most-starred repository in the list. Hugging Face downloads are shown on company pages but not scored, because gated repositories report zero. |
| Released models | 15% | Number of publicly announced, named models, capped at 5. |
| Disclosed funding | 10% | The sum of the funding rounds listed on the company's profile that were disclosed in USD, on a log scale from $10M to the largest sum in the list. Rounds reported only in other currencies are listed but not converted or counted. This input applies only to private startups and robot makers. For big-tech divisions, research labs and listed companies it is n/a, and its weight is shared across the other inputs in proportion. |
Sources. arXiv papers and official model cards for benchmarks and parameters; official leaderboards (RoboArena); the GitHub and Hugging Face APIs for stars and downloads; company announcements and established press for funding. Missing values are shown as n/a, never estimated.
Updated 19 Oct 2026. Benchmark protocols differ between papers, for example in fine-tuning and number of trials, so small gaps between close scores are not meaningful.
Weights: n/aPolicy
Whole-body humanoid control policy trained with RL on human motion data, imitating upper-body motion while tracking root velocity on a Unitree H1.
No benchmark results on a shared public benchmark have been published for this model.
