Figure 03 Walking: The Helix 02 Three-Layer Control Architecture

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Most people watch Figure 03 walk and look at the legs — but much of the interesting work happens underneath. Figure Helix 02 uses three control layers: System 2 understands the scene, the instruction and the goal; System 1 turns that into full-body joint targets at 200 Hz; a fast layer handles reflexes and balance. This hierarchy is what makes humanoid walking fast and stable in complex environments.