FIELD NOTES TOPIC
locomotion
2 notes, newest first.
HAF: Adapting Generalist VLAs to Humanoid Whole-Body Loco-manipulation via Hierarchical Action Flow and Spectral Latent RL
The paper introduces a framework called HAF (Humanoid Adaptation Framework) to adapt generalist VLA models for humanoid whole-body locomotion tasks. The framework is divided into two parts: HAF-VLA and HAF-Steer…
Learning Loco-Manipulation From SMPC Demonstrations With Sparse Offline-to-Online RL
The paper proposes a method to integrate robot locomotion and manipulation using Reinforcement Learning (RL) and Sample-based Model Predictive Control (SMPC). The approach generates offline datasets from SMPC…
