AIBullisharXiv – CS AI · 10h ago7/10
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Commanding Humanoid by Free-form Language: A Large Language Action Model with Unified Motion Vocabulary
Researchers introduce Humanoid-LLA, a Large Language Action Model enabling humanoid robots to execute complex physical tasks from natural language commands. The system combines a unified motion vocabulary, physics-aware controller, and reinforcement learning to achieve both language understanding and real-world robot control, demonstrating improved performance on Unitree G1 and Booster T1 humanoids.