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offline behavior cloning
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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…
