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

arXiv:2609.34199 · cs.RO · Submitted 2026-09-28 · Read on arXiv

cs.RO

Submitted: 2026-09-28

Updated: 2026-10-02

Project page: https://bitrobot-foundation.github.io/humanoids-in-the-wild-500-hours

Terminology

• Adaptation — 14× in this paper · explained in 1 episode
• Action Space — 7× in this paper · explained in 1 episode
• Foundation Model — 7× in this paper · explained in 3 episodes
• World Model — 5× in this paper · explained in 7 episodes
• Action Flow — 4× in this paper · explained in 1 episode
• Benchmark — 4× in this paper · explained in 2 episodes
• Generalization — 4× in this paper · explained in 13 episodes
• Foundation Models — 3× in this paper · explained in 7 episodes
• Flow Matching — 2× in this paper · explained in 8 episodes
• General Motion Retargeting — 2× in this paper
• Accuracy — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Benchmarking — 1× in this paper · explained in 4 episodes
• Fine-Tuning — 1× in this paper · explained in 5 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 3 episodes
• Latent Representation — 1× in this paper · explained in 2 episodes
• Latent Representations — 1× in this paper · explained in 3 episodes
• Transformer — 1× in this paper · explained in 2 episodes

Sources

• $\pi_0$: A Vision-Language-Action Flow Model for General Robot Control
• OMG: Omni-Modal Motion Generation for Generalist Humanoid Control
• Hiking in the Wild: A Scalable Perceptive Parkour Framework for Humanoids
• GR00T N1: An Open Foundation Model for Generalist Humanoid Robots
• $\Psi_0$: An Open Foundation Model Towards Universal Humanoid Loco-Manipulation
• Fast-WAM: Do World Action Models Need Test-time Future Imagination?
• MotionWAM: Towards Foundation World Action Models for Real-Time Humanoid Loco-Manipulation
• $\omega$-0: A Latent Predictive World Action Model for Concurrent Humanoid Loco-Manipulation
• OpenHLM: An Empirical Recipe for Whole-Body Humanoid Loco-Manipulation
• EgoHumanoid: Unlocking In-the-Wild Loco-Manipulation with Robot-Free Egocentric Demonstration
• Cosmos World Foundation Model Platform for Physical AI
• Wan: Open and Advanced Large-Scale Video Generative Models
• Video Prediction Policy: A Generalist Robot Policy with Predictive Visual Representations
• mimic-video: Video-Action Models for Generalizable Robot Control Beyond VLAs
• WorldVLA: Towards Autoregressive Action World Model
• Unified World Models: Coupling Video and Action Diffusion for Pretraining on Large Robotic Datasets
• Causal World Modeling for Robot Control
• World Action Models are Zero-shot Policies
• DiT4DiT: Jointly Modeling Video Dynamics and Actions for Generalizable Robot Control
• $\tau_0$-WM: A Unified Video-Action World Model for Robotic Manipulation

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