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.
Motiondif- fuse: Text-driven human motion generation with diffusion model.IEEE transactions on pattern analysis and machine intelligence, 46(6):4115–4128
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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.