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.
Deepmimic: Example-guided deep reinforce- ment learning of physics-based character skills.ACM Trans- actions On Graphics (TOG), 37(4):1–14, 2018
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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.