Humanoid robots are drawing significant attention as versatile platforms for complex motor control, human-robot interaction, and general-purpose physical intelligence. However, achieving efficient whole-body control (WBC) in humanoids remains a fundamental challenge due to sophisticated dynamics, underactuation, and diverse task requirements. While learning-based controllers have shown promise for complex tasks, their reliance on labor-intensive and costly retraining for new scenarios limits real-world applicability. To address these limitations, behavior(al) foundation models (BFMs) have emerged as a new paradigm that leverages large-scale pre-training to learn reusable primitive skills and broad behavioral priors, enabling zero-shot or rapid adaptation to a wide range of downstream tasks. In this paper, we present a comprehensive overview of BFMs for humanoid WBC, tracing their development across diverse pre-training pipelines. Furthermore, we discuss real-world applications, current limitations, urgent challenges, and future opportunities, positioning BFMs as a key approach toward scalable and general-purpose humanoid intelligence. Finally, we provide a curated and regularly updated collection of BFM papers and projects to facilitate further research, which is available at https://github.com/yuanmingqi/awesome-bfm-papers.

Deep neural networks have revolutionized many fields, but their black-box nature also occasionally prevents their wider adoption in fields such as healthcare and finance where interpretable and explainable models are required. The recent development of Neural Additive Models (NAMs) poses a major step in the direction of interpretable deep learning for tabular datasets. In this paper, we propose a new subclass of NAMs that utilize a single-layer neural network construction of the Gaussian process via random Fourier features, which we call Gaussian Process Neural Additive Models (GP-NAM). GP-NAMs have the advantage of a convex objective function and number of trainable parameters that grows linearly with feature dimensions. It suffers no loss in performance compared with deeper NAM approaches because GPs are well-suited to learning complex non-parametric univariate functions. We demonstrate the performance of GP-NAM on several tabular datasets, showing that it achieves comparable performance in both classification and regression tasks with a massive reduction in the number of parameters.

We propose a Gaussian process approach to collaborative filtering based on the random Fourier feature method. The result is a neural network consisting of two non-linear layers in which only the weights of the middle layer need to be learned, along with the embeddings of each user and item. The model is asymptotically equivalent to a Gaussian process with RBF kernel on the space of concatenated user/item embeddings. It has the advantage of computational scalability and doesn't require defining inducing points required by other Gaussian process approximation methods. The compactness of our representation and interpretability our model can make it attractive to a variety of practitioners in applied settings. We illustrate our model on a political voting dataset, followed by more extensive experiments on several MovieLens datasets of different sizes.

In this paper, we propose a novel and practical system for robust online face tracking in surveillance videos. The proposed system has two contributions: 1) sustained high performance for long-term tracking even when faces come in and out of the view frequently, and 2) extremely low complexity which allows for real-time deployment on various platforms. These advantages are achieved by designing a regular update framework based on a state-of-the-art face detector and a new histogram-assisted KLT (HAKLT) tracker. Experimental results demonstrate a superior and super-fast (>100fps) practical face tracking system.