نسخة أولية وصول مفتوح
WholeBodyWAM: Learning Whole-Body World Action Models with Scalable Motion Priors
Humanoid whole-body manipulation requires coordinated whole-body dynamics, yet large-scale trajectories from a target robot are expensive to collect and difficult to scale. In contrast, whole-body motion from human and humanoid sources is abundantly available, although such data cannot be directly used as embodiment-sp …