Author

Xinyuan Lv

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Preprint Aug 2026

HAF: Adapting Generalist VLAs to Humanoid Whole-Body Loco-manipulation via Hierarchical Action Flow and Spectral Latent RL

HAF (Humanoid Adaptation Framework), a two-part framework consisting of HAF-VLA and HAF-Steer that transfers off-the-shelf generalist VLA foundation models to humanoid whole-body loco-manipulation, surpasses vanilla single-stage VLA baselines and improves whole-body coordination and task performance.

Langzhe Gu, Chengkai Hou, Meng Li et al. · 0 citations