Preprint
Sep 2026
WB-WAM: Heterogeneous Body-Hand Pre-training for Humanoid Loco-Manipulation
Humanoid loco-manipulation demands coordinated body and hand behavior, while conventional robot pre-training data provide limited coverage of such whole-body motion. We present WB-WAM, a World Action Model that incorporates explicit whole-body action supervision into generative video pre-training. A shared physical act...
Chuan Qin, Shao-Ting Zhu, Si-Yuan Luo et al.
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