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Notes on humanoid robots
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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…
Scaling Behavior Foundation Model for Humanoid Robots
Researchers propose a scaling recipe for Behavior Foundation Models (BFMs) to improve the capabilities of humanoid robots. The recipe includes a learning paradigm, strategic synergy between data collection methods, and…
Scaling Behavior Foundation Model for Humanoid Robots
Researchers have developed a new method for improving the performance of Behavior Foundation Models (BFMs) in controlling humanoid robots. The method involves coordinating three core components: motion tracking…
CoorDex: Coordinating Body and Hand Priors for Continuous Dexterous Humanoid Loco-Manipulation
Researchers introduce CoorDex, a learning pipeline that enables high-DoF dexterous loco-manipulation on the move for humanoid robots. The pipeline converts high-dimensional body and dexterous hand control into…
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