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WB-WAM: Heterogeneous Body-Hand Pre-training for Humanoid Loco-Manipulation

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WB-WAM injects explicit body, root and dexterous-hand supervision into generative video pre-training, jointly learning video and actions from 1,880.2 h of heterogeneous data; 81.9% in HumanoidArena sim and 84.0% mean success across five real humanoid tasks.

HumanoidWorld ModelsMobile ManipulationDexterous ManipulationTsinghua University
Category: humanoid
Author: @ShaotingZ38103
Date: 2026-10-14T00:00:00
Duration: 17.879s
Source: https://x.com/ShaotingZ38103/status/2110395952125423722
Reference: https://arxiv.org/abs/2609.34199

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