HumanoidTraining
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A FabSpeak project · AI × humanoid robots × the factory floor

A humanoid robot is not programmed. It is trained. Here is how.

Teleoperation, simulation, human video and foundation models, taken apart at the layer that decides whether the robot actually ships: the mechanism, the number, and the caveat.

Start with how it works What it means in a plant
Ram Agarwal
Ram Agarwal · twenty years in the software that runs factories · fabspeak.com

Written and checked by one person.
Every number on this site links to the source it came from.

A humanoid robot standing alone in an empty factory hall at dawn
Every photograph on this site other than the author portraits was generated for it. No stock, no scraped press images.

The stack, in one picture

Human videomillions of hours of people workingSimulationthousands of robots in parallelTeleoperationa person drives the robot; every move becomes a labelled exampleVision-language-action modelsees a frame, reads an instruction, outputs joint targets 50–200 times a secondThe factory floorwhere the training has to survive contact with a real shift
The stack, bottom to top. Each layer fixes the weakness of the one below it. Nobody skips the teleoperation layer yet.
30,000+BMW X3 vehicles built with Figure robots on the Spartanburg line
540ksynthetic demonstrations NVIDIA generated from a few dozen human ones
~7–8kcommercial humanoids operating worldwide, mid-2026 estimate
$38BGoldman Sachs humanoid market estimate for 2035

Pick a door

An operator in a VR headset mirrored by a humanoid robotHow a humanoid learnsWhy writing code for forty joints stopped working, and the four-layer stack that replaced it. A hand in a thin tactile data glove gripping a metal componentWhere the data comes fromTeleoperation rigs, simulators and plain video of people working. What each is good for, and what each gets wrong. A sealed white humanoid robot carrying a wafer pod through a cleanroomThe factory floorWhat is really running in plants today, and why a semiconductor fab is a harder room than a car plant.
The hard part of a humanoid is not the body. It is the ten thousand hours of someone showing it what to do.

That one sentence is the whole site. The pages that follow are the evidence for it.