System 0

A kilohertz-rate whole-body control network added below the fast/slow two-system split, dedicated to balance, contact, and coordination.

System 0 is a layer Figure AI added when it released Helix 02 on January 27, 2026. The original Helix was a dual-system design: System 2 is a vision-language model that understands the scene and instruction and produces an implicit goal; System 1 is a visuomotor policy that turns that goal into joint commands. Helix 02 adds S0 below S1: a roughly 10-million-parameter neural whole-body controller running at 1kHz, responsible for whole-body balance, contact, and coordination; it's trained on more than 1,000 hours of joint-level human motion data across more than 200,000 parallel simulated environments, and transfers to the real robot via domain randomization. S1 was also upgraded to output whole-body joint targets — from legs and torso to fingers — at 200Hz. This way, the upper layers handle 'what to do,' while the bottom layer guarantees 'stay balanced,' which is what lets a humanoid walk and work at the same time.

ExampleFigure showed Helix 02 autonomously completing about 4 minutes of dishwasher loading and unloading throughout an entire kitchen, including 61 combined walking-and-manipulation actions, with no human intervention.

Also called

S0/S1/S2 Architecture, Three-System Architecture

Related

Dual-System Architecture (System 1 / System 2) · Hierarchical Architecture · Whole-Body Control · Learning-Based Whole-Body Control · Figure Helix 02 · Brain–Cerebellum Architecture

Sources

Introducing Helix 02: Full-Body Autonomy (Figure)
Helix: A Vision-Language-Action Model for Generalist Humanoid Control (Figure)

As of

2026-01