HAF: Adapting Generalist VLAs to Humanoid Whole-Body Loco-manipulation via Hierarchical Action Flow and Spectral Latent RL
By Langzhe Gu · Paper · cs.RO
Humanoid robots hold great promise as general-purpose agents in human-centered environments, yet generalist vision-language-action (VLA) foundation models are not readily applicable to humanoid whole-body loco-manipulation. The high dimensionality and interdependence of humanoid