LEGS: Fine-Tuning Teleop-Free VLAs for Humanoid Loco-manipulation in an Embodied Gaussian Splatting World

arXiv:2606.01458 · cs.RO · Submitted 2026-05-31 · Read on arXiv

cs.RO

Submitted: 2026-05-31

Updated: 2026-10-14

Terminology

• Gaussian Splatting — 3× in this paper · explained in 4 episodes
• 3D Gaussian Splatting — 1× in this paper · explained in 2 episodes
• 3D Gaussian Splatting (3DGS) — 1× in this paper · explained in 4 episodes
• Calibration — 1× in this paper · explained in 7 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Generator — 1× in this paper · explained in 2 episodes
• Robustness — 1× in this paper · explained in 5 episodes

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