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.
Beyondmimic: From motion tracking to versatile humanoid control via guided dif- fusion.arXiv e-prints, pages arXiv–2508, 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.