Humanoid-LLA converts unconstrained natural language commands into stable whole-body motions for humanoid robots using a unified motion vocabulary and two-stage supervised-plus-reinforcement fine-tuning.
Smap: Self-supervised motion adaptation for physically plausible humanoid whole-body control.arXiv preprint arXiv:2505.19463, 2025
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Commanding Humanoid by Free-form Language: A Large Language Action Model with Unified Motion Vocabulary
Humanoid-LLA converts unconstrained natural language commands into stable whole-body motions for humanoid robots using a unified motion vocabulary and two-stage supervised-plus-reinforcement fine-tuning.