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

Langzhe Gu, Chengkai Hou, Meng Li +14

Humanoid robots hold great promise as general-purpose agents in human-centered environments, yet generalist vision-language-action (VLA) foundation models are not readily applicabl…