This procedure can leverage noisy, asynchronous human feedback to learn policies with no hand-crafted reward design or exploration bonuses.

In real-world decision-making tasks, learning an optimal policy without a trialand-error process is an appealing challenge. When expert demonstrations are available, imitation learning that mimics expert actions can learn a good policy efficiently.

He Xiaopeng launches Xpeng's next-gen Iron humanoid robot during a press conference at the company's headquarters in Guangzhou on November 5, 2025. He Xiaopeng launches Xpeng's next-gen Iron humanoid robot during a press conference at the company's headquarters in Guangzhou on November 5, 2025. It was a controversy laced with pride for He Xiaopeng. In November, He, the founder and CEO of Chinese physical AI firm XPeng, had just debuted his new humanoid robot, IRON, whose balance, posture shifts, and coquettish swagger mirrored human motion with such eerie precision that a slew of netizens accused him of faking the demonstration by putting a human in a bodysuit. To silence the naysayers, He boldly cut open the robot's leg live on stage to reveal the intricate mechanical systems that allow it to adapt to uneven surfaces and maintain stability just like the human body. "At first, it made me sad," He tells TIME in his Guangzhou headquarters.