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Sponsored AI AM CLAUDE, A Beginner's Guide: Learn the basics of working with AI AI AM CLAUDE, A Beginner's Guide: Learn the basics of working with AI

Author

Yi-Ming Yao

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Preprint Sep 2026

WholeBodyWAM: Generalizing Pre-trained World-Action Priors to Humanoid Loco-Manipulation via WBC-Grounded Coordination

WholeBodyWAM is introduced, which jointly predicts future visual dynamics, manipulation actions, and whole-body control intents for generalizable humanoid loco-manipulation and preserves pre-trained world-action priors while grounding heterogeneous whole-body controller (WBC) semantics and coordinating whole-body behav...

Zhuo Li, Yi-Ming Yao, Jim Tan et al. · 1 citation

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