SP-HLM: Sparse-Pose-Driven Motion Generation and Whole-Body Control for Humanoid Loco-Manipulation
Humanoid loco-manipulation requires an effective interface between high-level task policies and whole-body control. Existing interfaces typically rely on a single action representation for both task intent and whole-body coordination. This may burden the high-level policy or leave one aspect underspecified. We present SP-HLM, a framework built on a sparse-pose-driven interface. The interface combines five task-critical body poses with a learned latent motion prior to represent spatial intent and whole-body coordination in complementary forms. SP-VLA, a vision-language-action model, first predicts task-relevant sparse poses and finger joint positions from multimodal observations and langua...
| Authors | Zhaohui Yang, Quanbao Lin, Chengqi Shi et al. |
|---|---|
| Primary category | cs.RO |
| Published | 21 October 2026 |
| Last updated at source | 21 October 2026 |
Silytics shows public metadata from arXiv and links to the original. Information may be incomplete or out of date. Last refreshed 22 October 2026. Licenses and terms of the original apply to the work itself. Not financial, legal or professional advice.