Preprint Open access
WB-WAM: Heterogeneous Body-Hand Pre-training for Humanoid Loco-Manipulation
Humanoid loco-manipulation demands coordinated body and hand behavior, while conventional robot pre-training data provide limited coverage of such whole-body motion. We present WB-WAM, a World Action Model that incorporates explicit whole-body action supervision into generative video pre-training. A shared physical act …